How do I stop feeling like a burden to others?

I have never had any friends or relationships before. The number of times I have hanged out with people outside of a work, school, or family setting can probably be counted on one hand.

I always felt like why would anyone want to go through the effort of having me around, when they could just not deal with me instead or hang out with friends they already have.

I feel unwelcome outside of designated spots of work, college, and home.

I have thought about asking coworkers who I'm friendly with, but they haven't even indicated that they would want to hang out with me outside of work. Why would they want me to interject myself into their lives, especially if they didn't ask for it? I don't want to take advantage of their kindness. Could generosity be a remedy for this? Like baking them cookies or buying them a drink?

For additional information I am a high functioning autistic. I am moderately quiet, but I do like to make people laugh and have conversations. I talk normally and don't have any major ND behaviors that make people uncomfortable.

I wan't to stop feeling like I would be a source of stress to people and start feeling accepted by someone.

What would be your advice to help me with my Hedgehog's Dilemma?