I go out and interact with strangers all the time, make acquaintances and friends, and when I was interested, even met women to date. I’m autistic, awkward, and have anxiety. If I can do it, most neurotypicals should be able to as well. I think the problem most people have is that they expect things to happen instantaneously. It takes time to build rapport with an individual or group, but consistency is key. You’ll often be surprised by the people who look forward to seeing you.