My understanding of social situations has improved massively, looking back on myself in my teens and early 20's onwards.
I've always known I was a bit of a 'marmite' personality. Although I had no idea what it was that put some people off, I knew it must be something I did and do wondered what that was.
Most of my closer friends were the kind of people who would shrug their shoulders and say ' can't please everyone'.
A few years back, I had a boss who, looking back, was quite dreadful and was eventually made redundant. Phew.
While he was around, I got to know quite well, a colleague who is very lovely but not naturally a kindred spirit. It turns out that her super power is to be 'nice' to everyone, even to her own detriment.
From observing her way with people, I have learned a lot about how to get on with people. How to find their 'handle', the thing that lets you pick up even a boiling hot saucepan.
We eventually talked quite openly about 'horrible boss' which lead into talking about how to get in with different kinds of people. It opened my eyes and got me observing different interactions and helped me see which of my own interactions are not helpful and put some people off me.
When it matters to me, I can tone these parts of me down. It's really satisfying to get to know people who would formerly give me a bit of a wide berth. She is kind enough to say that I showed her how to get out of conversations which demand too much if you because not everyone deserves all your time and attention.
So , yes, even in my 60s, I have learned some people skills and really enjoy using these new skills. I think the first thing you need to to want to do things differently, then start seeing how other people approach that way differently then try practising your new skills.
Good luck.