Absolutely yes: I go to embarrassing lengths to avoid people unless there is a "context" for interacting with them. I've tried my entire life to break this, but I cannot.
The only time that I'm really "normal" or seem/feel "normal" is when there is some kind of context for interaction (eg work, something on TV, etc). I even have this problem with my family, spouse, kids. Like someone here said--it can be excruciating, but sometimes ya just gotta "suck it up and deal."
Sure doesn't "help" much in the "what to say" small talk dept, or help much with not being suddenly struck tonguetied if/when the person you are near decides to start talking to you/me. Hate that. Always have, probably always will. I don't dislike people, I'm not usually consciously afraid of them...at this point, I avoid them mainly because I can't stand the awkward silence of being two feet away and not saying a thing since NTs think that that is so weird and creepy.
Heck, I have a helluva time even making "small talk" with my own kids most of the time. I end up asking about schoolwork or even the weather--pretty bad when your dad can only think of talking about the weather then you're 10 and he's over 40! I feel terrible because of it, though as contradictory as it probably sounds, I dismiss the guilt with a wave of the old "Can't help it, so can't worry too much about it, either!" wand.
But...it is what it is, as the saying goes!
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Not all who wander are lost...