Will I ever have real friends?

I thought I was best friends with my ex, but he kept saying I was disrespecting his boundaries and that it's exhausting explaining "social cues, implications, norms, or interactions" to me any time I do something that bothers him because I'm "completely oblivious" to what I do wrong. I'm just so.. confused. I try so hard to be nice and sweet, understanding and patient, etc etc -- everything people want me to be -- and I still get told this before we end our long-term friendship. No matter what I do or how hard I try, I'm always doing things wrong without really knowing til it's too late.

This sort of thing happens all the time. I make friends easily and it's all great until I get comfortable. Then, I get feedback that I don't accept boundaries, I'm too old to not be self-aware of my wrongdoings, I "crucify" people when they don't do what I expect, etc. I don't get it. I go to therapy and my therapists have all told me I make significant progress. Even my cousin says I've made progress. I take my meds. When will this be over? Will I ever be able to keep friends?

Diagnosed NPD, if that matters.

I don't know, life has always been so lonely and I don't know what to blame it on anymore.