How do you keep from making social mistakes?

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suspension from college for a year in Feb. 2005 from upsetting a professor. NEARLY fired from a job. Sadly therapy is counseling about current stuff or psychiatrist pills. Yet I'm still depressed from my past mistakes and fear of making new ones on the larger scale of suspension or nearly fired. Yet I make smaller ones such as upsetting my family nearly on a daily basis.

Excited over a special interest it's "Weird" Constantly get called selfish. OMG! you only think of yourself! OMG! I didn't think to do multitasking and get ALL the clothes or upset SOMEONE in my family nearly daily! SOMEHOW! SHEESH!

See a psychologist about it - a good observer. Discuss those things to learn. Aspies do not learn it all by themselves. I have observed and acted my way through a lot without actually understanding. I am seeing a psychologist now and am beginning to understand a little about my communicative difficulties - among other thing, the classical inflexibility.
One example: We, especially women, tend to either let the other persons perspective fill the whole horizon OR only being able to see own perspective. We are in trouble in the area in between, where most people negotiate and adjust through subtle give-and-take, giving way, following drifts and so on, often in an intuitive way.
The only way is understanding - and we´ll improve with time.