I have had many similar problems. I also do not like talking to people. I feel like I can't think and talk to someone at the same time.

It did help me to realize that there are people I can talk to because I am relaxed with them. I just need to find a way to relax with people that I don't know as well.

I have started trying to talk to people more. I am usually very quiet but I have started to share some of the things that I am thinking & wouldn't normally say out loud. I have found that most people WANT to talk and are supportive and polite. I still have a lot of work to do but each time I conquer something new I feel stronger.