I'm 20 and have the same thing. Like you, it greatly affected my self esteem, and thus had an adverse effect on my social life. I searched for things to straighten it, found traction devices, but was too shameful to get one.
Wound up intentionally avoiding intercourse until I was nearly 19, but after a few relationships I found someone I felt comfortable enough with to "expose" my big secret to. It took some doing, could not make it work the first time or two, but after that.... well lets just say I can't recall the last time I had to initiate sex with her (she does).
On the downside, some positions are extremely difficult or impossible, particularly ones with upper bodies together (trying to lean down to kiss during missionary, leaning down from behind, etc). Perpendicular works best, with enough spine bending and strain kissing can be accomplished, but thrusting has to stop for that to happen (for me anyway). So that was a disappointment, kissing is such an intimate act, but it may or may not be possible for you.
Pillows are needed if she's on her back, in order to get her pelvis at the upward angle to match your downward angle. Sex from behind is extremely difficult, thought it was impossible, but after almost a year of trying, finally got it to work!
There are benefits to having a downward curved penis! It's much more comfortable and easier to hide an erection (in pants). Tenting does not occur, no matter how loose the clothing! Also not as noticeable if for some reason one develops in a public place such as a change room or showers at the pool, etc. Additionally, it's much more comfortable/easier for someone to provide oral, especially deepthroating!
So in short, I've been there, still am there, but from what I've found, after years of being awkward and shy, uncomfortable and self-humiliated, I've come to actually love it, and am very glad I didn't try to straighten it!!
Take care, I really hope this helps,