Our experience has shown that it's really important to introduce social activities that our son can experience success with. For example, playdates that are highly structured (like playing a board game, a video game, a planned activity), that involve an area of special interest, limited to only one or two friends, and supervised. I'd avoid making introductory social activities ones that occur in loud & noisy places, where your child will be on sensory overload and lucky to barely cope. And, with anything that is going to work somewhat smoothly with our son, we prepare, prepare, prepare....talk about what's going to happen, what our expectations are for appropriate behaviour, problem solve any anticipated conflicts, and give him some strategies/tools for managing sensory overload. We pay very close attention to his mood, and when we see that he's beginning to get agitated, we'll shift the activity to give him a "break" (like having snack time, watching a very short video, etc.).
Setting him up for success has been VERY important to his motivation to want to continue to participate in social experiences.