I'm introverted, but like you, am confident and social. I just need to be able to retreat as well.
When the children were younger, I found breastfeeding hard (being needed all. the. time), and I can't pretend that it didn't factor in my not breastfeeding for very long (6 weeks for Thing 1, 13 for Thing 2). But they both slept fairly well, and fell into a routine which gave me 2 hours over lunchtime to myself, and meant they were generally asleep by 7pm.
Once they were 2, they started going to pre-school (when Thing 1 turned 1, she started going to a nursery one day a week so I could have some time off. I was also PG with Thing 2, so it helped me rest too. I started working PT when Thing 2 was 10 months old), which gave me some down time, as did working.
They're both now at school (they're 8 & 6), I work 3 days, H is hands on when he's home, and it all works really well. The children get it if I tell them I'm having "mummy time" (I usually go upstairs and read while they sit in front of the electronic babysitter). TBH, as the kids get older, they become more and more independent. They're still in their rooms by 8-8:30, and if not asleep, they know it's adult time, and to stay in their rooms.
Of course there are times when it is overwhelming, but I think that applies to all parents, not just the introverted ones! You just create your style of living along the lines of what works for everyone, you included.