One thing I love is that (almost) wherever I am travelling in the world, I can just turn up to a church and feel welcomed.
My wife and I moved to a new city and went to church and were invited to a family home for dinner straight after the service. It's great to experience that in a city where you don't know a single person.
Find people to talk to, and talk to them often. The ones who you like talking to and like talking to you will end up your friends.
That's all there is to it, but like you already know it's harder than it looks, because the problem is finding like-minded people to talk to, and that's why you're getting a bunch of advice about hobbies. Turns out that people who like certain hobbies tend to enjoy talking about them with other people who enjoy those hobbies. It's a proxy for an easy conversation.
Those who find it harder to have conversations with strangers will find it harder to make friends, so try to teach yourself that skill, because at some point it's all down to being a numbers game.
Be proactive, even/especially if you're an introvert and it feels awkwardly forward. Most extroverts have already formed their fill of friendships by their 30s so you can't rely on them to initiate anymore. And people are more socially flexible/accepting than you may think, and welcoming of human interaction.
Give more leeway for who you consider "friend" material than you would in younger years. It's easier to find someone who's generally cool to hang out with but only has a couple interests in common, than someone who shares your exact set of interests but is easy to get along with. E.g., neighbors are a good place to start. Even if all you have to talk about is the neighborhood, if they're not a colossal asshole, they'd probably be a cool person to grab a bite to eat with once a month.
Don't plan for attachment. Expect that you might just grab lunch a couple times with someone, and they or you might move, have a kid, turn out to be a colossal asshole, etc., and the friendship drops in priority. If you get really invested early on, you'll get burnt out quickly by this.
Same advice applies to rekindling old friendships. Check back in with people you knew from college who were cool but you lost touch with. Maybe they live in the area and would like to catch up, and maybe they happen to still be a cool person and have a new interest which matches a new interest of yours.
Got a hobby? I bet there's a club that meets semi-regularly. For example the original D&D generation is well past their 30's, so I'm sure you could find a group that meets every could weeks with lots of players in their 30's, at a local game shop. Similar for boardgames. Or if you have a hipster coffee shop nearby it might have a corkboard up with slightly less nerdy version of this stuff.
Plan a picnic or hike and hit up old Facebook/LinkedIn contacts who are living in the area, or ask existing friends to bring along their friends/coworkers.
That might mean finding venues where you're statistically likely to meet people who you will find interesting. However, don't judge a book by its cover. It'll definitely require putting yourself out there. If that worries you, it gets easier the more you do it. I can't stress enough that you're going to need to mentally "burn the boat" and have total commitment.
I know that lockdown is currently a hurdle, so maybe think about where you could go once things open up. Meetup.com is a great place to start.
Also consider using lockdown to be more interesting yourself. Learn something you've always wanted to learn. Try reading 10 books on one subject.
Pick up a hobby where you interact with other people. I ride mountain bikes, but there are lots of options. Look for clubs which might interest you. Or go back to school part time.
All of this is near impossible in COVID times. Get vaccinated, wait until group meet ups are common again.