Ok, so I don't know your exact circumstances but i personally prefer this. I have no friends, never been in a relationship and have been conditioning myself for this since I was 11, so almost 13 years ago. (I've never even hugged a person of my preferred gender)

This could be helped by the fact that I hate humans, am an introverted person and have practically no desire for sexual contact so it might be easier for me than it is for you.

But if it is really as hard as everyone makes out to be, consider thinking about why you need or want this contact, is it because you want a spontaneous evening out with someone you'll never meet again? Or are you really looking for a long lasting friendship?

What exactly do you want to feel? Wanted? Needed? Loved?

Figure out what you want and then make plans for that. You want a boyfriend/girlfriend? There are dating apps, I'm sure they're terrible as I've never used one, there are also other avenues for finding relationships like this.

Want one night stands? I'm sure dating apps can also accomplish this.

Want an actual friendship? Find something you like, a hobby, something to learn, something to do and find a way to socially incorporate it into your life, maybe, through your learning and doing you'll find someone just like you, who is doing this so they too can find someone. Find people online, I've heard of and seen so many people who form friendships online and then eventually meet each other irl and they have some of the best friendships.

You need a plan to get where you want to go. Decide your destination and then plan your route, it may not be easy, it may not be fun. It may take a good year or more, but if you know what you want and you take the time to make it happen it will be worth it.