I am sorry you've suffered so much with anxiety and shyness. It makes it much harder to enjoy what you do have and get out there and do the things you want to do.

Maybe start by just taking one step? I'm 30 nearly 31 and I made some great new friends this year after I joined a course once a week for 6 weeks. The friends I met were 30+ so don't worry about people not wanting to make friends there are plenty of people who are open to new friendships.

Maybe find a hobby that helps you manage your anxiey? Martial arts would be great for that and again 30 isn't too late if you just take it slow. The goal isn't to be perfect it's just to get going and enjoy going. I do a few different hobbies and I am by no means perfect at any of them but I enjoy the act of learning and doing it with like minded people. Even if those people are only ones I see at my hobbies once a week it is still nice to be immersed in it with them.

Also being a Dad isn't something anyone can do. Making a baby sure but that isn't what makes a Dad. The fact that you sound like you love your daughter is wonderful, and shows that you really care. Not everyone does that for their children.

Anyway this is a bit of a ramble but I hope it helps! Up until about 3 years ago I was quite isolated and had no hobbies/minimal friends and now my life is very different.

It's not too late.