This is an interesting subject. I have spent most my life (over 40 now) being a loner and not though choice. I can relate to everything you have said claw about yous ds, and I feel similary, I would like friends but really do not process the skills to achieve this.
School was a nightmare my dog was my best friend, was dx with dyslexia in 80's, but I have now applied for as asd assessment. Went to uni to do engineering, ended staying nearly 20 year (as commented it changing and the demands that you be a social networker rather than an interested introvert is not good).
Finally felt ok, and contented enough for me to stop hating myself, took up running, swimming, found a husband, 2 kids (one asd other nt). But with the whole school thing back and not working, feel inadequate again, as make no connections, struggle so much and feel lonely again, back to depression. As I do not fit into this aspect of society and they are not willing to tolerate awkward interactions. I like helping, but now contribute in other ways, school garden, the cakes, homemade stuff.
Agnesdipesto my mum is very happy with her own company, and never pursues contact. She is incredability active with her interests, mainly self taught and has ended up in demand for her skills. She says she has more than enough friends that genuinely care for her, oh and her 5 kids.
So I am trying to learn to be a a contented loner, with allotments, sewing, excercise, a house etc.
I have a twin sister, our interests are the same, the outcomes very different, I use to think she was a social whirlwind, but now I know it is because she is NT. I only really feel at ease in her company, shame the Irish Sea separates us.
Ds1 has to be taught everything in a hands on way and I know this will apply for social situations and am trying to get the school to address this but failing. I find it fascinating how easily ds2 just seems to get things and goes with the flow of life. A local school did a lesson a week on a variety of disabilities, covering the range in the class, I think it really made a difference. Awareness and knowledge is everything and keeping it quiet as society does only enhances the gap.