>>251598It's not impossible, but based on your previous experience I can understand that it feels that way. Actually, your previous experience is the exact problem since the little exposure you've had to people is traumatic and negative, it constrains your world and your emotions in the present and future. Anxiety, shame, fear of people in general makes sense when you see it as the result of what you know, your lived experience.
Finding kind, good-hearted people and spending time with them expands what you know and it's what fundamentally affords you the ability to relax and be yourself around people. Without a single good experience of relating to others, you can't help but feel the way you feel.
Not saying it's easy, but that's what it takes to get better, a so-called corrective emotional experience that can shape you. Unfortunately, you can't just conjure up these positive experiences with a magic wand, but it's something to aim for nonetheless.