Welcome!
I have experienced everything you described in your paragraph about the challenges of introversion. I finally decided earlier this year that the only solution was to become a more extraverted and social introvert. It's not easy at first, but once you get going, life is great!
When I first started out with this extraversion thing, I managed to tick off more people in the first month than I have my entire life! This threw me off guard and concerned me at first, but after reflecting on it further, I realized that these were people who really needed to be ticked off to challenge their unrealistic assumptions about me and life in general!
I now get along fine with them.