im terrified of being annoying or rude

i do not want to inconvenience people of course, but i feel like i always do, unintentionally. i am so awkward and horrible at social situations, i feel like i am always doing something wrong or missing an obvious cue. im so scared i come off as rude, or if something i did or said becomes an inconvenience to them and they feel annoyed, and that they think of me horribly. i try to force out a tone that sounds nice, but sometimes it seems even more awkward and i dont even know if im doing it right. i really want to be kind to people, but i feel like this anxiety and lack of natural social awareness is messing me up. i have a bad habit of assuming that the other person is annoyed (or maybe thinks im dumb), and of course i dont know if this is true or not but if it is true i dont even know how to cope. i feel deep embarrassment and shame. sorry for the rant and thanks for reading