The "burn" is not necessary to stimulate muscle growth. It's just a burn. Do 1,000 pushups in one day, you will have a burn, doesn't mean you'll get a chest like Arnold Squashenegger.
Start with just the bar. In every session, do more than you did before - more weight, or more reps, or more sets. Even just 1kg or 1 rep increase is fine.
A weight you can lift for less than 3 reps is a bit risky on your own. A weight you can lift more than 12 times, well lifting it 16 rather than 15 times won't do much. So stick to 3-12 reps. Aside from that, just add weight when you can, when you can't add weight add reps, when you can't add reps add sets.
For example, if today you squatted 60kg 5,5,5 then tomorrow you must squat,
65kg 5,5,5 - more weight, or
60kg 6,6,6 - more reps, or
60kg 5,5,5,5 - more sets
and any of those would be more, and stimulate muscle growth.
As a beginner, the reason you start low is to learn good form, have it be second nature. Of course form breaks down as you reach your current strength limit. So err on the side of starting low, just with the bar. It feels slack but what's important isn't where you start, but where you're going - progress. Better to start with a 20kg bar lifted for 1 set of 1, and in every session add 1kg or 1 rep or 1 set, than to start with 90kg 3x6 and get stuck at 95kg 3x6.
If you reach a plateau, probably you are not eating enough good food, or getting enough good sleep. Eat and sleep more.