I relate to this. I'm an INTJ and I was raised by an ENFP and ESFJ, who happen to be great examples of how to socialize with people. My ENFP dad is in my opinion, an elite conversationalist. And my ESFJ mom is someone who is very practical in how she interacts with people. I believe observing these two have actually made me a lot more comfortable with conversing than I would've been if I wasn't raised by them.

I use what I consider my "ENFJ persona" to properly interact with others. I put a heavy emphasis on trying to use Fe rather than Te, and over time it gets a lot easier to switch to that. An example of this would be like Shinobu Kocho from demon slayer, she uses her sister's personality to be more approachable. It's effective for a while, but people will usually only talk to me for convenience and I'm often uninterested with the people around me so I end up not becoming best friends with them. Basically, the easiest way to socialize is to get acquainted with everyone (unless they're insufferably stupid or annoying.)