You have not been interested in social activities or intimacy until now and that's okay.
Now you want to learn about them, and about you (how you come across, you said) and what the obstacles are between what you have and what you want.

There is so much to learn about intimacy and what it is (emotional closeness) and what it isn't (simply sex). It takes time to figure it out, and probably takes longer for those of us who have actively avoided thinking about it for a long time. But we have to start somewhere.

This.... is the stuff of therapy