I'm a survivor. I have had to learn to accept myself and realise that I will never get a new set of parents. The emptiness comes from emotional isolation in infancy and no one can fill that up for me.
People can be good and kind but they have their own lives. The only person who can fill the emptiness is me. It is quite a challenge, and it's achievable.
I don't know if this helps, but I truly believe that you can deal with your own loneliness if you can accept yourself, if you can give yourself the approval.
The last thing my father said to me before he died was, "It seems to me that you have made yourself the victim."
I have had to climb out from under that amount of hate, and I don't blame myself any more. It wasn't my fault.
Good luck to you all.