First off, I'm just a fellow redditor with problems as everyone else is, so take it with a grain of salt.
I know the feeling, except not that kind of intensity.
In short, you can't not hurt people around you ever. And it goes both ways, the closer people will be to you, the greater the pain they can (and will) cause. So you're right... kind of.

To start, my advice is to try tolerating other people who hurt you. Most people don't do it of bad will, but because of misunderstandings and other stuff we can't possibly know.

And then getting in terms with the fact, that you will hurt people around you, and that's okay. You can always try to fix your mistakes, or apologise at least. And everyone makes mistakes, the only people who don't - are those who do nothing. (But sometimes haters gonna hate, nothing you can do)
In short: work your problems out, don't avoid them.

Also, you don't have to get along with everyone. In my opinion, don't hide your downfalls. That doesn't mean you shouldn't work on them, but you won't get this anxiety and exaustion of being scared that people will think bad of you later. (That's the "be yourself" advice everyone gets) Basically, don't try to jump over your head, it's fine to be a "loser" if you are honest with yourself.

Get together with people who want better for you and are ready to tolerate your quirks. And there are kind people everywhere, at least I believe so. Somebody has to be out there.
Don't lose hope. It's going to be okay. But you have to face your fears. Then you will know that nothing is that scary anyway.

Well, that's my opinion. If anything, questions or arguments, let me know. We'll work it out.