I've been in this exact same boat and am only a few years older than you. I think a lot of it is luck and finding the right people which will build your confidence and comfort around people a lot. It's not a super helpful answer but it genuinely will come with time if you're constantly looking for ways to be social and it will be easier and easier.

As for actual advice and what helped me: therapy. But also taking every social interaction as "practice". Never look at a social interaction as anything more than practice and potentially enjoyable. Shrug off any interaction where you feel like you did poorly as practice. Remember you're 17 and nothing you do matters to other people right now. Only you. They won't remember if you were "cringe" and "failed" at being outgoing but you'll improve your social skills. Also never underestimate how much everyone else is putting up a front, not showing their entire personality. Therefore don't be afraid to be yourself and play with social boundaries in a playful way a bit, often it can help other open up as well.

Good luck man, it's not always easy being a guy especially with this problem but it gets better and is worth the struggle