Many of your social experiences may be negative. Keep putting yourself out there in a way you think is fit, but when something happens that you think is negative, such as saying a joke that doesn't land or doing something strange, rather than berating yourself, thinking "why did I do that, the hell is wrong with me", catch yourself as you finish that thought and reassure yourself instead, forgive yourself. Reply with, "it's okay, that was pretty strange, but forgive yourself, you made a mistake, they happen, give yourself permission to try again knowing that there is a chance you'll make another mistake, it's fine if you do".
Treat yourself with some compassion; but maybe you find that difficult, as though you don't "deserve" to be reassured and you should berate yourself instead.
Two things, first, you've berated yourself your whole life, and where has that landed you? Maybe try being forgiving instead.
Second, if you don't feel you deserve compassion, I'm sure there are at least a couple people you care about, right? If you can't be forgiving to yourself for your own sake, be forgiving to yourself for their sake. What I mean by this is, treat yourself kindly not so that you can benefit, but because by treating yourself well, you become a calmer person and through looking after yourself, you are better able to look after other. Of course, you deserve compassion for your own sake, but if you can't accept that, then do it for those you'd like to help.
Also, when it comes to things you desire, such as better social skills, a girlfriend, sex, whatever, first accept that it's okay to have desire, desire is built into us, for water, friendship, fun. But say you desire something particularly badly, to the point that you say that you "need" it.