Hi Kraut! Don’t ask your work colleagues as it would probably be a bit awkward and from how you’ve described them they don’t sound very understanding or supportive. They sound quite bitchy to be honest and in the example you gave they were rude and dismissive. So just let those people get on with it.
If you’re looking to make connections with people, I would try seeking out some really welcoming type groups that are low pressure and will be interactive and accepting by nature. Yoga sounds a bit tough to meet people as I guess mostly everyone’s doing poses silently! I think groups like that could be tougher as the interaction is all peripheral small talk (rather than focused on a particular task or goal), which is a skill in itself - many people struggle with this sort of small talk!
Something like toastmasters springs to mind - they are all about helping people build up confidence and it’s part of the credo to be respectful and welcoming to everyone. They will also give you kind and respectful feedback on your speaking skills, which could help you build up confidence and get some of that guidance you’re after. They’re all over the country and the individual groups can vary quite a lot, so for eg some are more formal and than others, but a lot meet online so you could dip into a few different ones and see what you think. You could also tell one of the organisers privately beforehand that you’re apprehensive and lacking confidence, and I’m sure they’d be happy to offer support and make sure you feel encouraged.
That’s just one example though. You could also try looking on meetup.com for something that interests you or chimes. The last city I lived there was a meet up locally specifically for socially awkward people, so a) you’re not alone in feeling unsure and b) there are other people out there looking to make connections and who won’t judge you if you’re not super confident or polished at making chit chat at this point!
Another idea of something that springs to mind is a board game or D&D meet-up, something like that where people tend to be very sweet and accepting even (or especially!) if you’re a bit different or awkward. And remember too that socialising is a skill that you can practice and work on so even if you find it a bit baffling now, doesn’t mean you always will. There are people out there who will accept you for who you are, even if that’s someone quirky, ‘weird’, odd or different!