This reminds me of this post:
https://putanumonit.com/2021/09/10/rules-for-noobs/I don't think the guy is any sort of "certified expert" but it rings true to me. And occasionally I've tried to give people related advice but found I couldn't. For example: How do you know when you you're close enough with someone that you tease them in a way that they'll take well vs badly? I'm pretty good at knowing it, but I'll be damned if I can explain it.
tl;dr of the article is that when people are learning then explicit rules and guidelines are helpful. Once you get better at it, they are unnecessary and even harmful. People in the latter stage tend to give crappy advice like "just be yourself" because it works for them now, they don't really exactly know what they're doing (ie, the knowledge is implicit) and they've forgotten what it's like to be totally incompetent.
Anyway, perhaps the point is that while it's difficult to externalize how to "not be awkward" (and indeed it would likely be different for every social group) you can probably use rules to get along well enough, for long enough, to figure it out the hard way.