I used to feel like this. I went through school with very few friends, finding social dynamics impossible, and university wasn’t hugely better. I have almost no friends still from that time, compared to DH who has maintained strong friendships through his life.
I used to find small talk impossible, and had no confidence at all in myself as a likeable person. I made friends through work but groups were painful for me. Once I had kids I found playgroups very hard work indeed.
And yet as I’ve got older I’ve just got better at the whole shebang. Once I was diagnosed with ADHD and realised how much of my stress over the years has been RSD (and recognised my autistic traits too) I could understand a lot about myself, but I had already got better at it all.
A lot of it for me came down to caring less whether I was liked, more confidence in the good parts of myself - CBT and some good experiences helped, and also avoiding situations I knew I found really hard: like a PP I mostly avoid groups for example. I’m going away for a weekend soon with four other women, all of whom I like very much, and think of as close friends, but even just the preparatory WhatsApp messages are making me feel bad about myself because I feel I’m the least accepted person. I can feel it making me miserable.
I think I now realise that, for me, I need to value each interaction for what it is - the people I say a friendly hello to in the street are a nice way to feel seen, but won’t ever be best friends. The people I have a friendly chat with in the tea break at choir are nice adults to break up my day with but are unlikely to want to become my best mate, and that’s fine, because it’s not about me. And then, every now and then, I’ll meet someone I chime with, in random settings, and they might become a real friend.
I’ve just moved to a totally new area so I’ve had to repeat all this to myself a lot (and am going on this group weekend because I miss my friends despite my reservations). But I think we put a lot of pressure on ourselves to get more from casual social interactions than we’ll ever get.