Practice is what worked for me. Eventually I learned to navigate relationships better, but I'm still not perfect. It's like learning a foreign language. You'll never be a native speaker, but you may be fluent one day.
I had a similar situation. In my twenties, I was socially hopeless and couldn't approach women, but I was very good-looking. I was a model, so I met a lot of beautiful women who fortunately were willing to make the first move, but sooner or later (1 night-maybe 2 months) they realized just how weird I was and bailed out.
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"Donkeys live a long time. None of you has ever seen a dead donkey."