Here's a thought for you.

You are forever telling me I am a good person, even though many times I don't see things that way about myself.

You also keep saying you are unworthy.

Have you considered how many times you have helped me (and I am sure others) to regain some sense of "it's going to be okay"? You say you are incapable of empathy, yet you show me how much it upsets you when I tell you of people hurting me emotionally, that shows empathy. You claim to not be worthy of love.

What makes a person worthy of love?

When a baby is born, most mother's immediately love that child (I say most bc some mothers suffer post partum depression or some other mental illness). All that child did was come out into the world. It hasn't earned any trust or loyalty. It hasn't developed any relationship. There's also the point that even mass murderers in prison find people outside of prison who love them. Love doesn't come with a set of requirements. Love doesn't need to be earned. We are all worthy of love.

As far as you not being good at socialization...so? None of us are at first and you haven't​ had as much experience as the rest of us. Get out there. Get your feet wet. You learn through practice. When people get upset, ask why, explain what you were trying to get across, ask a better way to approach it in future, apologize...and try to do better next time. It's just another learning experience. People are judgemental creatures at times though so you will need to learn to take their judgements with a grain of salt. If you do those things and are persistent with it, within a year or two, you will be all good socially except maybe with dating, and heck..as far as relationships are concerned no two are the same anyway.