I Have An Agent! stories mention the first novel that was trunked and how they found an agent with the second novel.
That being said, I think you need to query anyway. If the novel you've written is the best you can make it. If you've gone to critique partners and writing groups and gotten feedback, go ahead and send that sucker out. Worst case scenario: nobody wants it and the books doesn't get published. Since this is the exact same result of not querying, it's a zero sum game. Send it out and try to learn something. Change your query. Consider all feedback a blessing. Be courteous.
And get yourself some social media.
I was really surprised how many of those requests came from Twitter interactions. This is why I keep harping on the idea of having a submission packet. Two of my full requests came from query critique contests that were literally an agent tweeting, "First five people to send me a query with the title HONEST CRITIQUE will get feedback." That's one third of my full requests. Both agents read the query, and got back to me in under 24 hours with a full request.
Now, the key to making that work is stacking the deck in your favor. I queried 63 agents total. Before I sent them anything I made sure of three things
1) they were open to queries,
2) they represented all the genres I write in (SF/SFR/UF), and
3) they'd sold books in those genres recently.
Querying an agent who doesn't rep what you write, and who hasn't sold who what you write, or who isn't even open to queries is a waste of time. At best, it's an auto-delete because the query email isn't being checked. At worst, it's a rejection and some agent griping to their publishing buddies how authors who can't read query guidelines while you weep over a rejection. Don't beg for rejection.
If you find the agents who rep what you write, follow them on Twitter or on their blogs, and keep track of what they're requesting (Agent and Editor Manuscript Wishlist anyone? It's on Tumblr. Read it.)
The reality of modern publishing is that you will be expected to have an internet presence. Your publisher will want you to help market the books. Your fans will want to be able to contact you. It may not be your favorite thing, but rummage around on the web until you can find a place where you are comfortable being social... and then go to all the other major social media sites and start following agents and writers you love. If you don't interact, fine. You're listening and learning. If you do interact, great, it means the agent can match you to an avatar when they read your query.
By the way, be prepared for them to follow you back. The first time I realized an editor was following me I nearly died. I checked every day to see if she was still following me. Agents will follow you, check out your author's FaceBook page, maybe even skim through your instagram photos to get an idea of what you're like. Sometimes they stop after they reject you, sometimes they stick around and congratulate you when you sign. Anything could happen. Just be yourself (the normal, public self that doesn't scare the neighbors) and you'll be fine.
Last but not least, be patient. I was on submission for a year before I received the revise and resubmit from Marlene. I spent six months redoing my novel, stripping out a subplot I didn't need, and tightening the story line with her suggestions. I was on query for over eighteen months before Marlene asked to talk to me.
You could have two children in eighteen months without having twins (although your doctor might yell at you)! When people say this isn't a fast business, they aren't joking. It takes time for an agent to read the queries, read the pages you send, and make a decision. Sometimes, sure, they'll know right away. But sometimes they really have to think about it. And if they send notes it'll take any more time.
But it's going to be worth it. Query the agents you love, who love what you write, and go work on something else while your novel is making the rounds. With any luck, you'll be so busy with your next project you will forget you have something on submission and stare in confusion when an agent says they want to talk about that title. It's a good kind of confusion. :)
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