Eh, the development of your social skills is completely within your control. I was raised the same way; I was told one day when I was about 13 that I wasn't allowed to 'group date' (whatever that was, it was never explained to me so I never did it) until I was 16, and I couldn't date date until I was 18. Because God said so or whatever. So I just never really interacted meaningfully with girls ever. When I finally did turn 18, I had absolutely no idea how to talk to girls like a regular human being or how relationships and their dynamics worked. After about two years of being incalculably awkward around girls I liked - I remember a short period where I tried PUA-type shit sophomore year of college.... shudder - I decided I had had enough of being inept and just forced myself to do better through exposure and practice. It took me until age 24 to lose my v-card, but after a couple long-term relationships and a lot of dating I feel like I'm long-since cured of my ineptitude now at age 30.

Start small! Make small talk with cashiers and the like! It's important to practice non-romantic flirty interactions with your preferred sex without expecting any kind of result, just for the sake of doing it. Then, little by little, you'll get used to it and over time it'll come more naturally. If I can develop social skills, so can you!