Hi poptart316,
I am an old guy with similar issues. If I could go back to my 24 old self, this is what I'd tell myself. If you've made it to this age and you feel unfit to be around people then you have not received the proper parenting to prepare you for life on you're own. You are okay, you are just like everyone else, they are capable of love, and warmth, and forgiveness. It's time for you to join the world of mature, caring adults. Show them that you're ready to love them and they will welcome you.