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No judgement: You need to throw yourself in the deep end and just do it. Nobody endures cold very well, or hot, or getting drenched in rain and bitten by bugs. You're not special or unique by experiencing pain from these things: everyone else feels the same. The outdoors becomes "pleasant and tolerable" when you reach the top of that hill you're climbing, or crawl into that tent after the snow storm. Or you're just sitting in a clearing 30mins walk from your car after setting up a cheap walmart tent and reading a book by the fire. It doesn't matter how far away from home you are or your physical abilities or how much your equipment costs: Just Go Outside and sleep a single night in a strange place that isn't your own bed and report back
>I am told it helps depression
It absolutely does 200%. The outdoors doesn't fix you like a magic pill, but it makes you realize how great the mundane things in your regular daily life are. Like having a flushing toilet and a refrigerator and an actual bed, and it changes the way you look about food when you can't wait to crack open a can of beans or eat a candy bar. Putting yourself in a strange environment brings out all sorts of alien feelings like hunger and exhaustion and physical pain that you don't feel while moping around the house like a sad sack of shit, and you come back to your regular life with a feeling of being 10ft tall and victorious and made of gold, and you might even develop some healthy eating habits out of it.
Ignore the hateful /in/lets and just give it a try. I believe in you and I'm here for you OP