I cant relate a lot with your situation. My first thought was, do you think your parents have been overprotective with you in the past? More questions: Do you think you have trust issues? Are you shy? Or socially anxious?

As for what you can do, volunteering seems a very good starting point. But the way i see it, you cant force yourself to feel what you dont feel and thats ok. With the right people though, it should become easier, more spontaneous and more natural for you to appreciate and enjoy more your friends and boys company! And, sometimes, the more you go out and try to be social, the more you'll like it and feel comfortable around people.

Anyway, good for you to have such a nice relationship with your parents!!! You still have some time to "feel like an adult", and many times, many people dont ever feel adults and "ready" for changes, new situations and facing the unknown. The only thing you can do is just always doing your best. You cant ask yourself more than that!
Best wishes!