Hello,
As per the description that you have given about yourself, there are certain possibilities out of which one is most probable and it is that you may have an Anxious avoidant type of personality since your childhood.
Another possibility is that you may have Social anxiety disorder.
Next Steps
both of these situations can be managed through psychological therapies and medicines.
Health Tips
If you think you have difficulty in carrying out activities at work or at home because of these problems, you should consult a psychiatrist for further management.