I wouldn't say just friends either. The biggest leap I made in social stuff is to simply stop caring what other people think. If somebody doesn't like me, cool - there's plenty of other people. If they do? Awesome, because they're getting the 'real' me, so it's probably going to be a good relationship.

Basically I think a lot of people's issues with social stuff starts with something analogous to a boy who never asks a girl out for fear that she'll say no. People don't engage in interactions, or try to be overly pleasing, to try to appeal to other people.

But that's never going to lead to a good relationship, because it's fake, and it'll feel exhausting. By contrast when you stop caring, you might be surprised to find people like you even more, it becomes even easier to form "real" relationships, and suddenly social interactions aren't tiring at all.

This becomes even easier after having kids because you're probably not really seeking relations in any meaningful way, so you completely genuinely just don't care. And then paradoxically it becomes so much easier. Well, at least it becomes wisdom you can hand down to your own kids, or random anons online.