Relate? You just described my biggest social flaw.
I first realised it in 1979 while talking deeply with a hippie friend. I knew at once how sad that was, to be unable to lean on anybody else, ever.
But there are a lot of flavours of leaning - there's a desperate, submissive kind when you collapse in a soggy heap and beg for help, then there's more casual stuff like asking what the time is, then there's calling in favours.
Generally I haven't got much better at this. It's possibly worse in my case because of an insecure upbringing. For some reason I seem to have become very good at keeping any need of anybody else very well hidden, so my requests for help are usually made in a "I don't really much care if I get this or not" kind of a way.
Interesting that you get a strong urge to lean, as well as the aversion to it. I'm just the same. I guess the aversion causes an intense hunger for nurturance, as we've denying ourselves access to it for so long. That makes it all the harder to reach out, I think.