It sounds like social anxiety! Same thing I have. The problem being is just making normal contact with others. Especially, people you do not know intimately and people you randomly meet. I am the same. I do not have a car so I either walk, bus or ride my bike with good weather. I understand where you are coming from.
There are different methods ACT/CBT and meds that can help. Let me tell you it has been hard for me, individually!