I feel stuck in my life. How do people even move forward and achieve something?

I’m 33yo. I don’t have any friends or plans. I work from home in IT, so I can basically afford not to leave my apartment for months + I order groceries online.

I’ve never dated anyone and never had any long-lasting friendships. I’m just on my own all the time, doing nothing that feels meaningful. Last year I thought I was depressed and started taking antidepressants but they didn’t help. My therapist suggested I go through an autism assessment and I did (ados-2) > I then passed it. Now I have no clue what to do with all of this

When I think about the future, I get scared that I’m wasting my life. I don’t have the courage to change anything, my social skills are low. I have no clue how to make new friends

How do people even plan their lives? Do they actually have plans about when and how major events should happen? Like marriage, career shifts and etc. I’m struggling just to get out of my apartment, and it really upsets me. I suspected I was highly introverted and depressed, but it turned out I’m autistic. I’m sorry for saying this, but I wish it were depression, because at least that can be treated. I feel embarrassed that at my age I don’t understand how life is supposed to work. I feel stuck