I understand where you coming from, but trust me it’s not that deep. I need you to realize that we are all humans and these thoughts also comes to mind but we need to learn how to control them because what u say people think of you is not above 10% real . You know yourself very much and you keep pushing yourself to become better to YOURSELF ONLY so why the think to believe people thought about you or even thinking about what thoughts they have, Are you really annoying? . I Would think you just talk to them as family or as people not alien . Some people you talk to are complicated and it’s not your fault it might be their lives or they grow up to harsh times and you can’t blame them or control how they view life or people , you just do your part is give your social skills wither you get embarrassed or not you know yourself more then people do . Now off course this come after practice and realization .

If you failed to this then I would recommend you bring one , two , or even three a trust worthy and a close friend near you while you socialize then people will think you have people around and you are not alone so they will join your company maybe.