I was fortunate growing up to have friends in my life willing to boop me on the nose when I made missteps, and I took what they told and tried to modulate my behaviour and refine myself. Took awhile, teenage me definitely didn't do that very well. But I was able to be 'broken' in ways that took me from flailing at hugs, to simply freezing, to a tentative hug back. Still don't give good hugs, still don't like hugs, but I can do that now. I recognise that other people like them and if I care about other people I should be willing to put their needs over mine, because that's what caring means. And they understand I don't give 'good' hugs but can still appreciate the effort, which is something people do when they understand and care about your needs to. And I've come to view that as the meeting-in-the-middle that equal social interaction is.
It took time and effort, and you need to be lucky enough to find people willing to help you with that. I'm not saying you don't have this or don't try, merely expressing that it's always important to remember social interaction is a two-way street. It takes effort and thought and it's stressful and tiring, but I found it is possible to learn coping mechanisms that can offset the natural instincts of autism. But it does require meeting people willing to give you the patience. Autism Support Groups are a thing in the UK, and there are game shops that had regular meetups for people to play DnD or Magic or whatever. I don't know where you live or what's available nearby or in traveling distance though. I can only speak from my experiences at the end of the day.