I always felt awkward around people because there is a certain warmth I felt I was expected to exude and I couldnt do that cause I was self focused on my speech, my mannerisms, my appearance, asking myself constantly if I looked like a dork, or walked like a dork, etc. It was painful experiencing those feelings so I closed myself off to avoid the experience.
At work and my social life I was put into situations like yours where I had to train somebody at work, or an unexpected person would show up at a social get together. It would cause me to become hyper self conscious and that was the pits. Id exhaust my brain with racing thoughts and I knew I just needed to get away, so I understand how that feels.