I've never had a relationship until 25. I had all the bad luck when it comes to genetics and upbringing.
At the time of 25, I just learned to drive and had my first beater 15-year-old car. I made lots of great friends when giving rides to Wal-mart to friends who are fellow international graduate students on that shitty car. I just made up bullshit reasons for me to go to Wal-mart every weekend and asked them if they want to tag along. Many were too shy to bother others, and would totally appreciate someone who would offer them a ride. I sort of became the go-to person when people needed a ride (friendship came with a cost, who would have guessed right?). One day, I was asked to give a student a ride from the airport two hours away because she couldn't ask anyone else to help. We became good friends after the ride I gave her and we developed a great relationship two years after.
There is a lot of stuff like that you can do to help others and maybe help yourself. You can volunteer in a place if you don't know where to begin. When you find yourself to be useful and kind to others, oh strangely, people will see that too.
>less willing to make contact because I always have that thought of what if you are a doing something wrong, you will be accused of something etc.
While some people are a pain in the ass, you will find most to be friendly and understanding when you're genuine. Don't be afraid of stories you read online of judgments and lawsuits. I found myself in a strange situation when I just had nothing to lose and I did many things against the advice to protect myself from being vulnerable and potentially receiving the short end of the stick. I have turned my life around doing just that. While I did indeed occasionally receive the short end of the stick, I have gained so many great friends and stories that totally made it worth it.