Question about loneliness

Not sure where to ask this, this feeling was recently triggered by filling in an Autistim assessment & hearing my parent who's going to fill in their half said all they remember about me as a child was having a difficult time making friends.

I think I still have a difficult time. Feels like bragging to say but this is relevant. I know for a fact people enjoy spending time with me, I can chat way to strangers and get on well. I've been told before meeting me was a 'highlight' of an evening. So I can talk to people, I can never quite make the leap to getting details & meeting up again unless they ask. I've time I tried and was blanked so much I just. Anyway!

The real question is I can socialize, I can have fun, but I always always feel a step removed from everyone. Second I typed that I started to tear up. There's a gap I can't seem to bridge. I wish I had a friend I could comfortably reach out too about this, I've been going through my small list of close friends and I can't imagine messaging anyone about this. Or anyone getting it.

Does anyone else feel this? Does it ever go away?