I'm going to suggest a radical approach here that I haven't seen mentioned elsewhere. Sounds like you have enough self awareness to notice that you are living outside of traditional social norms. You're in your 30s, aging and not settling down to start a family and pay mortgages off with the other normies. You're an outsider.
You have 2 paths:
1. try to play catchup and fit into the norms that you have neglected and let bypass you. Sounds like you've already made an attempt here and are struggling. You know what it takes: self improvement, shared hobbies, therapy, talking to strangers, personal growth etc.
2. embrace that you are an outsider and lean into a degenerative life style. Really give up on fitting into the social norms. Embrace that you are a social degenerate and have fun with it. Start hanging in anti-social circles and engaging in risky non-normal behavior. Get a motorcycle, join a biker gang. Start frequenting punk rock bars and meet other outsiders. Pick up a casual drug habit and socialize through shared usage. Blow all your engineering salary on strip clubs and sex worker experiences. Is this "normal", no. Will you have more fun ? yes.
You have 2 paths:
1. try to play catchup and fit into the norms that you have neglected and let bypass you. Sounds like you've already made an attempt here and are struggling. You know what it takes: self improvement, shared hobbies, therapy, talking to strangers, personal growth etc.
2. embrace that you are an outsider and lean into a degenerative life style. Really give up on fitting into the social norms. Embrace that you are a social degenerate and have fun with it. Start hanging in anti-social circles and engaging in risky non-normal behavior. Get a motorcycle, join a biker gang. Start frequenting punk rock bars and meet other outsiders. Pick up a casual drug habit and socialize through shared usage. Blow all your engineering salary on strip clubs and sex worker experiences. Is this "normal", no. Will you have more fun ? yes.