I'm fortunate enough to have almost all of my friends as fairly well-adjusted NT individuals. Over time, I've learned what behaviours alienate people (and thus avoid them) and what works.
The best thing that ever happened to me socially was discovering that I'm actually quite funny (probably doesn't come across in my posts, but I'm an amateur comedian and people always refer to me as the funny guy), although figuring out what was funny took a while. But I noticed early on in life that people always liked those who could make them laugh, so that's pretty much my main social tool. Making people laugh, capitalising on thinking differently.