I don’t have social anxiety, but someone I dearly love does. I learn from her and she does from me; we are like the Yin and Yang.
Once she said, “I wonder how it feels to just go in a room full of people and engage with 0 anxiety”; we ended up having a lovely conversation. And what I told her was that sometimes I feel like an alien, hitting conversation walls and weird looks.
Sometimes I feel like I'm one with the other person, conversation flows so naturally and pleasantly. But other times people annoy me and offend me, and I may also (unintentionally) annoy or offend people.
What I’ve realised was that overtime I became comfortable with whatever comes at me, and I try to enjoy the ones that I find pleasant, and ignore the ones I find unpleasant. I’ve learnt that I shouldn't take anything personal. I'm who I am, there are 7 billion people on the planet, and I have accepted only a handful of them will like me for who I am.
I try to be compassionate and thoughtful and a caring person, and I try to learn how to make life beautiful for myself and for others. Beyond that, I can't control people's judgements as they can think as they wish. So they can judge me but I’ll live on :-)