If you're an INTJ then you should do well with written instructions. Get yourself a copy of How to Win Friends and Influence People by Dale Carnegie. It's a good book for everyone but it should offer you many insights into how people opperate and help guide your social interactions.

Socializing is a learned skill and based on what you've said, it's just not a skill you've been able to get a lot of practice with. If you want to get better at it, it'll take some time and perserverance.

I'm an INTJ as well and incredibly introverted. I dislike socializing most of the time and see my friends a few times a year. I have fun each time but find it incredibly draining. However, as asocial as I am, I used to work in buisness development and sales industry and I excelled at it, often surpassing peers who are naturally social because I put extra effort into understanding people and learning how human interaction works. No reason you can't do the same thing in the future.