I can totally identify with this too. I spend a lot of time in my own head too and can't seem to get out. Apparently my auditory memory is weak so I think this might contribute to my frequent 'spacing out' in social situations- like my brain needs to keep stopping to process what's being said. Having said that, I daydream when I'm alone too, so maybe it's just how I am.
I also find it hard to connect with others and always feel uncomfortable, maybe because of my listening difficulties, or maybe I find it hard to trust others. It doesn't take much to knock my self esteem so I guess I feel fearful around people anyway.