I Want to Belong Somewhere

The biggest issue in my life right now is that i don't think I'm truly close to anyone. I've always been an introvert but I've had a few friends. As I'm growing older I'm realising that in most social situations, either i don't like other people i interact with or i feel inadequate to interact with the ones i do like. I need so much time and space to be comfortable around people that it's paralyzing. Evertime I'm in a group setting, I'm amazed how easily people connect to each other and become a part of each other's story. I on the other hand find it so unnatural to start talking to people for no apparent reason except a genuine interest in them. I think the problem might be that I'm a really judgemental person at my core, not just for others but for my own self as well. I judge other's too much on little things like the way they speak or dress up. And in the process of doing so, i evaluate myself on the same parameters. As a result, i spend too much time in my head and remain self conscious instead of actually acting in the world.