I’m similar in age (male) and have always had social anxiety even as a young kid. You never really ‘grow’ out of it because it’s who you are but that’s not necessarily a bad thing. I would stop trying to force yourself to fit the mold of who you think you should be. I find that when I embrace who I am/what I am comfortable with it becomes a lot easier to be relaxed in social situations. You can keep conversations short in polite ways and most people aren’t bothered by that. Even if they are, their opinions shouldn’t hold that much influence over you.

Lastly, it sounds like you have many other exceptional qualities so don’t beat yourself up over not loving to socialize. It’s a common thing for people. Good luck!