I was raised in an environment where I felt guilty for everything. That isn't to elicit sympathy, but to put forward that in this world, we are conditioned to feel shame for various things, by various people, for various reasons. I grew up afraid of almost everything and kept my guard up as high as I could. I wanted no contact with anyone because I refused to ever be vulnerable to anyone again. That's all it was, though. Fear.
Kink, whether we like it or not, is part of who we are. We can be afraid of it, we can try to hide it, but throwing a skeleton in a closet doesn't make it go away. It's still there waiting to fall out and shatter that illusion. There comes a time where you have to understand that if you're not hurting someone (at least not in a consensual way), you have nothing to feel guilty about. We are programmed to internalize fear of not belonging, of being rejected. Ask yourself if you want to be accepted for who you aren't by people you love. If you put up a facade about things, then they don't know you.
Do your friends need to know the ins and outs of your sexuality? Heck no. But would they need to know that if you were strictly vanilla and into crocheting while receiving oral? Again, heck no.
Intimacy is for you and who you share it with. It's a private thing. Think about it. Do you often hear about sex in normal conversation? Even the most mundane, vanilla sex imaginable? Maybe a joke, a line from a movie, but I don't often hear about sex in normal conversation. If you find the right partner, there's no need to feel guilt because if they're right, they'll understand. With that, there is no guilt. There's nothing wrong with you. You just need the right compliment to your inclinations.
So if your guilt is because you don't feel "normal", ask yourself what constitutes normal? Football games or trips to overpriced makeup stores? Trashy television binge watching or hating one political party or the other? Missionary sex with trips to the Golden Corral on the weekends? That doesn't sound entertaining to me. If it works for most people, more power to them. I'm okay with being completely disinterested in those activities for the most part (I am a sucker for a cheap buffet because I'm generally a cheap a** regardless). I'm sure that you're okay with being a bit odd as well.
And again, sex is primarily a private aspect. Nobody has to know about what turns you on unless they are your intimate partner. Nobody has a right to judge you for it. Go with that mindset and the guilt kind of dissipates.