@needadvice It’s never too late to decide you want to turn things around and to take steps that will get you there. Kudos for recognizing the issues and wanting to do something about them.
Your fear/anxiety in social situations actually kinda goes hand in hand with a coding career - lots of coders are known for being less than social, preferring to spend their time, effort, and focus on the code/job.
If you’re thinking about going back to school, I’d suggest starting at the college guidance office - be honest and tell them what you’ve said above - schools will often have employers who are looking for new hires and they may be able to steer your toward both appropriate studies and employment opportunities.
Recognizing that you want to change your current situation is a big first step, now the next big push is acting on it. When you find yourself afraid or unmotivated to explore possible opportunities, just ask yourself if you want things to remain as they are now. If the answer is no, force yourself to find that internal determination to do something about it - that’s the only way to go forward without regrets.
Best of luck to you!