I think most girls will find 5'8" tall enough. But if you do feel subconscious about it, then I do recommend you try about a 1" sole insert to see how it makes you feel. If it gives you more confidence, that would be terrific as girl's like confident men.
Try to forget that you were an ugly teenager (if you truly were one) as you are not ugly now. You aren't even average. You are extremely good looking right at this moment and that is what is important.
You are not too rugged! Just don't have a scowl on your face. Relax your mouth (your lips aren't too big).
And remember, girls are not into looks as much as guys are. Sure looks are nice to have in a boyfriend, but there are other things that are probably more important to most girls. Girls want a guy who has a good future, is kind, and will be a good provider if the relationship ends up in marriage. I seem to remember that you mentioned working in a grocery store. Is that a job that will give you a good future, one that would support a family? If not, then I would like to suggest you consider doing whatever is necessary to get a little bit better future.
I hope this doesn't insult you, but when I asked if you had trouble with social cues, I was really asking if you are autistic? I remember the story you told me about the girl at work that you fell in love with very quickly, so I was wondering if you had read the situation with her incorrectly.
Whether you are autistic or not, I would like to recommend the book Models: Attract Women Through Honesty by Mark Manson. I read this book for a friend to see if it would help him. I was surprised at how accurate it was in explaining the female mindset. It has really helped my friend. I think it would help you too.