I'm sorry your feeling this way but I'm going to be blunt. You don't feel worthy as your not in a relationship? Just do the things you want to do, go for a walk, cycle, shopping, see a film, museum. Go for a weekend away. You don't need people to do stuff. Take up a hobby you can do inside, craft, knit, colouring, diamond painting, video games etc.
You have a lot off things that many people don't have, Family, Friends, a well paid job.
I know it can be lonely being on your own but don't let it stop you, do the things you want to do and you don't have to worry about pleasing others.
I'm alone, have no family, friends or job. Suffer with severe social anxiety and tried many times to make friends or relationship but I've given up as it is sole destroying, the sitting in silence not knowing what to say. I've accepted I can't be with people but force myself outside whether it's for a walk or cycle or just to local shop, or potter in garden Or if have a bad day stay inside and find a hobby. I could quite easily stay in bed and never get up and feel sorry for myself.
You are a lot better off then most people, you have a lot going for you but you don't need other people to be you.