You need to lead, talk, make friends and be outside your comfort zone. You need to make an effort.
Everyone has this issue, some people have it worse. I would give anything to be normal in this regard, I've succeeded but I have a stutter which is horrible-- so imagine being able to just talk normally and go out in the world!
That last line, thats just negtative self talk. Stop that.
These, that, kept me away from a lot of “normal people” until I figured out what was causing them for me.