I think a lot of men grow up finding it difficult being "friends" with women, because our society has actively forbidden them from doing just that. Think about it. If a little boy becomes friends with a little girl and plays with her, all the adults around them either push a "romance" narrative on it ("Ohhh, are you girlfriends and boyfriends? Are you in love?") or they forbid it because boys shouldn't play with girls; they should be manly and play with trucks and stuff. They encourage ideas that girls have "cooties" and boys and girls can't hang out, because it might be sexual or romantic.

As a result, boys never learn that girls are human beings too. Boys never learn how similar girls are to them. They are taught all their lives to view girls as "other", as "different species", and usually only in a highly sexualised and objectified context, which is highly misogynistic and in fact hurts both in the end.

Have you considered finding a female friend who has a lot of common interests with you, even if you don't find her attractive? When you interact with women, try finding out what you have in common, rather than focusing on how different you are. All I can say, other than that, is to keep putting yourself out there and keep working on it. The more you try something, the less novel and unusual it is, and it becomes more easy and comfortable for you. It also helps to come in with a positive mindset. I know that's easier said than done, but surround yourself with positive, self-loving messages and repeat them to yourself often. Like I said, it's uncomfortable at first, but gets easier the more you do it. As a woman, I also have social anxiety and I'm learning to overcome past resentments of all people in general, because of how all the kids made fun of me in school as a kid, both girls and boys. I hope this helps.