Oh, maybe. Some of the stranger interpersonal skills that I've witnessed so far are from INTPs. But, I am definitely not unawkward myself.
A dirty secret I uncovered in my twenties is that most people are just as clueless about social interactions as I am. So far, the theory holds. It has helped me have less of a bug up my ass about my own awkwardness.
Forget the dead you've left; they will not follow you.
The vagabond who is rapping at your door, is standing in the clothes you once wore.