Sounds like you are on the right track…and that you've found a goal you would like to work on. Developing skills for friendship and building a friendship with someone is such an excellent goal and a good place to start, especially BECAUSE you have always had to rely on and do things yourself. That shows you really desire to connect effectively with someone else. Seek to build friendships right now, with NO EXPECTATION of intimacy for awhile and once you are progressing with that, you can go from there.
Since you already seem to have made peace with the diagnoses of "Generalized Anxiety"/"Panic Disorder", "OCD" and "PTSD", maybe you can try to find a new therapist or counselor who specializes in these areas that can help you begin to work on a plan for this goal to get started?? (and possibly be open to medication if the recommendation were to be given somewhere in the process)?
With your many years that you lacked guidance and effective parenting growing up, you likely will need some outside help to make a plan to move forward with this goal and there's not only no shame in this, it's a really good thing you're looking into it.
You seem very capable of and willing to take this on and I wish you the very best of luck moving forward

Now to answer your question about my ADHD. I take meds daily and then in the 11th hour of my 12 hour meds, I take another "buffer" medicine that lasts a few more hours and so I am fairly well controlled for most of the day. However, when I am not medicated (nightly) I can sometimes not handle emotions (irritation, frustration, fatigue, anger etc.) very well and my emotions seem to be very elevated (especially if my adrenaline is triggered by these heightened emotions). In addition, I struggle with excessive energy (currently I am experiencing heightened/hyper sexual desires, but in the past the heightened behavior might be hyper focusing on something else that I put excessive energy into). Some examples include: looking into buying a vacation house (that I could never afford but got fascinated with (I didn't buy it, just spent tons of time researching it) reading books, watching television shows or surfing online with no awareness of time) and also some things like compulsive spending problems (buying books, clothing etc. at night that I really don't need etc.). On days when I occasionally forget my meds, I feel so scattered and jittery and I just can't concentrate/focus on anything and I worry all day that someone will notice and so I tend to watch the clock all day and just can't wait to go home and get away from everything that seems to be over stimulating me. Since I have struggled with this, I now always carry an extra pill in my purse, just in case and it is usually with the first hour of my day that I can tell I haven't taken my meds and then I go and take it immediately. Even on meds, I really have to watch things sometimes. I talk. A LOT! In truth, I "think aloud" (even on meds). And sometimes, even on meds, if my adrenaline is triggered by emotions, it can "override" my medicine, in a way, and I still say things aloud or act impulsively and then feel badly and need to apologize to people afterward. it's a struggle at times, but that is why I feel I REALLY need meds and they help me so much, because I can't even see this stuff and create a plan to work through these challenges and actually use strategies I have to address my challenges and difficulties when I don't have my meds.
Many people don't believe in medications for illnesses like ADHD, but I can truly say I'd be really SO MUCH LESS FUNCTIONAL/SUCCESSFUL and PRODUCTIVE without them. And there's NO WAY I would be doing as well as I am without my meds. I still have many things to work on, but I CAN see what I need to work on and make plans and accept advice while on my meds. Sometimes, in the evening without meds, I am much more easily offended and bothered by things that I don't even seem to notice during the day, too and that affects me negatively in relationships at times.

SO… I hope that helps. You've shared a great deal about you and I hope this helps you understand me just a little better, too.

Feel free to send me a Private Message any time. I am a parent and my adult children are not too far from your age. Thanks to people (and meds) helping me, I feel I've been (and still am) a pretty good mom. My son also has ADHD (medicated) and my daughter struggles with anxiety/depression at times (just like her dad, my ex did, but he refused to acknowledge and get help or try meds).

I think you really will benefit from working with a therapist (and I hope you will) but I am happy to provide you with some practical "mom" advice (if I can) from time to time, too!

Good luck keep moving forward!