So what if you don't speak Hebrew and it's hard to learn? A lot of Jews have terrible Hebrew. And it is hard to learn. Which is why some siddurim have some transliteration. And which is part of the reason why we sing.
I've been a singer since I was six, and I promise you it's much easier to sing a foreign language than speak it. Cantor Benjie-Ellen Schiller herself, Rabbi Lawrence A. Hoffman Professor of Liturgy, Worship, and Ritual and Professor of Cantorial Arts at the Hebrew Union College Debbie Friedman School of Sacred Music, has spoken about how, in college, she could speak only about four words of Hebrew, and she found her way into prayer through song. And if you don't think you have much of a voice . . . who cares? Sing anyway. It's the synagogue, not Carnegie Hall.
Rabbis love people who come in wanting to explore their Jewish heritage; having those conversations is literally part of their job description. I don't know where you are, but if there's a Jewish community near you, email the rabbi (/cantor/kolbo) and ask to make an appointment to talk to them about wanting to re-connect with your heritage. I don't know a single rabbi who wouldn't be delighted to get that email.
And if you just maybe want to visit a synagogue to see what it's like, you can generally do that. If you're not in the US, you might have to email the synagogue first to let them know you're coming, and even in the US these days, it's good form, just so that any guards or greeters know to expect you. But beyond basic safety precautions, we do love guests, and someone is very likely to come say hello and make sure you know what's going on. (At my synagogue, we can in fact go a little over the top on the friendliness sometimes, but we mean no harm by it.)
If you're curious, we'd love to meet you. If you feel like an impostor Jew, then call yourself a guest for the first few visits -- we love guests, too. The first step into any new setting is the hardest, but there are people who will welcome you no matter how you frame your presence, and no matter how that framing may or may not change. Email a rabbi, and see what happens!