Just last month I had lunch with middle school friends I hadn't seen in 40 years. I literally hadn't seen once since Grade 8. I friended them on Facebook years previous but didn't really have anything to chat about, but when I was in the same town as them, I pinged them and said let's go to lunch. It was absolutely amazing, once of those moments that I will remember forever. Not because anything breathtaking happened, but it was just really really nice to connect with people I hadn't seen since the beginning of my life, and meeting them all over again as adults.
I still routinely have lunch with coworkers from 25 years ago. I have friends that I chat with on Whatsapp daily going back almost 50 years. I have no qualms in being the first to reach out, ever.
I have a friend from college that I have been in and out of contact for 30 years, who ghosted me for no reason this past year even after I contacted her a few times. Guess what? I won't hold it against her and I will give her space. I will ping her for her birthday and see if she responds and if not, then I will just leave her alone until she contacts me. But I don't feel shame or anger or embarrassment because I got rejected, that's on her, not me.