Most certainly!
Also, even when I am in familiar surroundings, if those surroundings are filled with a lot of stimuli then I will still get drained very quickly. I really need not only familiar places, but familiar places in an environment that I can handle - either set up by me, or chosen by me.
Certainly though, with regard to different people - those who I know well and who I get along well with - require less processing than those who are either new or who I don't gel with. As you say, there is a lot more that has to happen mentally in order to make those interactions happen, hence they are more draining.
For me, I even find just being near people drains me to an extent. Even my wonderful family, I need time away from them too. It is like I pick up on their energy, or maybe because my brain just constantly scans through the system when ANYone is around, checking, rechecking that I am doing the right things and haven't missed anything, since it doesn't come naturally to me no matter how well I know someone.
For the recharging part, I have come to understand that because our brains don't multitask very well, that there is almost like a backlog of information yet to be processed. By having downtime, it allows all of this to filter through and hence clear out our brains ready to tackle another thing. If I get TOO overloaded, I get really tired and have to sleep. I believe that in sleep our brains filter all the information we have accumulated and not processed yet more efficiently than when we are conscious.
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"Reality is an illusion of the construct of our brains"
"They cannot take away our Self Respect if we do not give it to them" - Gandhi
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