If you are OK, then great, you have peace of mind. If it is not OK, better to know and deal with it sooner rather than later.
If you are over 30 or smoke, please make sure that they do a full periodontal exam (measuring your gum pockets) and get a full set of small radiographs (sometimes called an FMX), not a panoramic radiograph and bite wings. The small x-rays are more diagnostic for decay and with the PAN and BWs, sometimes they can't see the front teeth very well and can miss decay. Either should be covered by your insurance, so you want the more diagnostic one, even though it takes longer. You want to feel like you know for sure that you are healthy and on the right path.
Don't be embarrassed. There are lots of reasons people neglect seeing their dentist and I can pretty much guarantee that you are not the worst they have seen by a long shot.
Please don't think badly of my parents, but I didn't go for a very, very long time. As in, they only took me twice during my entire childhood. I know neither of my parents love the dentist, so I don't know if it was due to their own fear or if we didn't have money/insurance (very possible).
I started going to a dentist regularly the second I had a real job & insurance, so when I was 22? I was horribly embarrassed to tell the dentist I had really never been other than twice in my entire life. We were both pleasantly surprised - no cavities! Just very painful gums after the most thorough cleaning ever. I now go every 6 months and I've only had one cavity (last pregnancy). It might be OK! I guarantee they've seen worse!