Pretty much everyone figures out how to actually socialize, maintain relationships, have new relationships, improve them, and date at high school, MAYBE college at the latest. I'm 30, almost 31. Did I miss the boat on learning that and having a semblance of happiness in my life, and there's no going back.
I've tried it all. I've tried social hobbies, I've tried going out, I've tried putting myself out there. The basics of social skills elude me. I am, at best, a filler friend. I can't see myself being any more than that, and I think it's too late for me to get better.
I think I doomed myself to a life of loneliness, all because of the bad choices I made. The only possible hope I can have is maybe reincarnation is real and I can suck less in the next life.
You sound like you have a really low opinion of yourself and that sucks. You're obviously informed, you have opinions and you've got the ability to get yourself out there. I'm not saying you need to socially pull yourself up by the social bootstraps, just that you have all the pieces and sometimes it's not up to us whether they fall where they need. And as ND people I do think we get less chances, especially early in life when we're already busy dealing with being different and all the fun that comes from that.
I don't know your situation or anything but you do remind me of myself, and the advice I'd give to me is to please not despair, to continue to put yourself out there and express yourself whenever you can, you're not filler you're a person and you have a lot to bring to people's lives. Keep rolling the dice