Kevin,
I can totally relate to your situation. I was in a studyhall class with a really cute guy that I was SO attracted to. I mean, I was in his class for like a month and I never talked to him. I had all the perfect opportunities to do it. Hell, I was in a room alone with him for 5 minutes at one point. And the thing is, I was 99% sure he was gay. But I just couldn't bring myself to talk to him. I talked to his friend a lot, though.
I hate myself for screwing that up. One of the many things I've done to f**k up a potential relationship (as I'm doing right now with someone else most likely). But you cant regret everything that you do. If you let one go, then there was probably a reason for it. [fortune cookie] You'll find your perfect person [/fortune cookie]
I agree with Sharon though. You're a lot braver than I am, so you should be able to do that no problem. Go back, find the waiter that was his friend and start pumping him for information!!! I wouldn't start straight off by saying "Hey, do you have that hot guys number you were talking to a few days ago?" He might not be inclined to give it to you
I wish you luck, Kevin! I hope it all works out for you in the end
Joe