I don't know if any of the well known payment processors would want to be involved with anything related to in-person sex work after what happened to Backpage when they were accused of money laundering because they used crypto. You will probably have to set up BTCPay Server if you really want to accept Bitcoin.
I agree, the OP will need to use a non-custodial service. Few, if any, regulated payment processors will knowingly transmit money for businesses with proximity to sex trafficking allegations.
As I mentioned above, there are some non-custodial WooCommerce plugins that would fit the OP's needs. He can have TripleA's plugin set up in minutes, so there is no need to overhaul his entire e-commerce setup with BTCPay Server.