A) Instead of driving straight home, stop at a park and walk around. B) If you are the first person to leave, be the last person to leave. C) If you always take the same streets home, purposefully take a different path.
Here's another habit you could change: the ride to work:
A) Instead of driving to work, see if there is a way to carpool, walk, or ride a bike to work. B) Wake up one hour earlier than normal and be the first person in a local coffee shop in the morning. C) Instead of listening to the radio or music, find a podcast or sit in silence.
The idea behind making slight changes to your daily habit actions is that they can cause unknown, unintended, changes (like the butterfly effect) that will lead you down a different path than the one you're on now. In addition to small changes in your habit actions, here are some pretty standard things you can do to "have a life" and "make friends."
1) Be thankful for the life you already have. 2) When someone asks you to do something you wouldn't normally do, consider doing it this time. 3) Join a local church. 4) Find a local meetup on meetup.com. 5) Start a new habit and do something consistently to see who else is doing that same thing consistently. Talk to that person. 6) Help someone younger than you or older than you without expecting to get paid. 7) Look for ways to volunteer. 8) Join a coworking facility. 9) Consistently visit a bar or coffee shop at a certain time. 10) Be the friend you want to have - invite other people to lunch with you, tell other people what you are doing and invite them to join you, throw a party at your house or apartment, rent out a gym and play some dodgeball, join a softball or kickball league, play a pick-up basketball game at the local park.
To do the things you're not doing now, you're going to have to do the things you're not doing now. That means taking a different path through life, doing things a little bit differently, going places you normally don't go, doing things you normally don't do - and being consistent about it.