As someone who goes out / does new things all the time, I assure you there isn't much you're missing.

I almost overcompensate with activities / socialization because I do a terrible time of being content/ being present/ and being alone.

I think capitalism has also molded us into believing time is a resource that must be demonstatively quantifiable. Ie feeling guilt for time not spent to the fullest.

If you want to do something new and mix the routine because you want to do it, not because you feel you should do it, then go for it. Otherwise it sounds like you have a pretty sweet setup, and don't feel guilty for enjoying time the way you want, even if it's hard to quantify or articulate.