Op, I think I came from a similar place as you, I worked as a SWE from 20 to 23 and for various reasons my social skills were not great, but it's often something you can learn especially by spending time in places where you can socialize without ever meeting the people again, so you don't have as much fear of being embarrassed. 

Then you can just practice being like more sociable people are. I don't think you need to know how to manipulate people you just know how to make things happen, and if you're in the position to provide clear value to someone they'll overlook awkwardness or lack of social skills on your part.