toomuch: Being an introvert isn’t bad as long as it doesn’t hurt you in any way. If you feel your neighbors and friends get annoyed when you stay closeted in your house then go out to them. I too, have very outgoing and friendly neighbors and friends who expect me to spend a LOT of time with them. At times, I feel like reading a book or bake etc. But I know I have to invest in the friendship.
Also, because you’re spending so much time by yourself, you didn’t really develop your social skills (as you describe). It’s not too late. Go out, make some friends and try to keep the conversation light (although you probably enjoy deep and meaningful conversations, some people find it annoying) and on their level. Yeah, I know it might feel awkward and silly discussing dumb stuff like clothing etc. but with time, you’ll come to tolerate and maybe even enjoy these discussions. Just listen, nod your head, share jokes stories etc. Be cooperative and take part in their games, slumber parties, b-day parties etc.
Good luck!