Don't worry OP, it doesn't sound ridiculous - it can be really nerve-wrcking meeting new people, especially if you are shy and a bit out of practice.
The fact that you drive is brilliant - I'm still learning at nearly 40, have tried several times and will hopefully get my licence in 2024. It's something I'm really bad at unfortunately.
Anyway, back to you - if you like animals, is there an animal shelter not too far away where you could volunteer, maybe to do some dog walking once a week or something. It would get you out of the house, get some exercise and you would meet other people but without lots of pressure.
Or is there a community group in the nearest town? They probably have events or voluteering situations you could look into. You may not find the perfect thing straight away, but if you try a few things you may find something that clicks.
Plus it will get a bit easier to put yourself out there once you do it a few times.
I would also recommend listening to some positive meditations, with affirmations you can do to help your self esteem. I have started a while ago and it really helps me feel more positive about my day.