I have a friend who can carry a conversation with a lamppost. but unlike many people like that, who just enjoy the sound of their own voice, he's genuinely interested in the other person and listens as much as he speaks. it's as if he views it as an interesting learning opportunity instead of a chore.
I'm somewhat antisocial, which is probably deeply rooted in some shyness, but old age has kinda of made me not give a shit anymore. being in a group where everyone else knows one another can still cause some anxiety, but not bad if they at least open the door to you joining in. it's the ones who basically act like you don't exist, even though you're standing right beside them. in that situation, I used to hover, too shy to contribute but too embarrassed to leave. now I give the situation a chance, then just bail if it doesn't pan out.