Most art galleries have showings open to the public. Museums are fairly affordable. Your local community college will have dance and theatre performances on the cheap.

Well, unless you're in a city like Mountain View, which lacks these things - but even here, the public library carries excellent recordings of music/dance performances, and has wonderful art books. There's also https://artsandculture.google.com/ for a vast number of the world's greatest art pieces.

It's really not a question of wealth.

Neither is it "education". You don't need education to appreciate beauty, and there are quite a few pieces that have a beauty that's immediately accessible even without a background in art or dance. Some art might not resonate with you -- and that's OK. Find the stuff you like, ignore the stuff you dislike.

Sure, you can go from there and get an education, and it will open more avenues for you. But it's not necessary. And as far as Maslow goes - setting aside that the "hierarchy" isn't - I'd put art at "Love and belonging". It's a connection to people across space and time, and it can unlock deep, profound emotions.

Give it a try, don't be scared!