Couldn't have said it better myself. I went through something similar. Parents considered most people I would have called as friends not "good enough" and forbid being around them for better part of my childhood. Now, in my 30s I have a few people from work I occasionally hang out with but no one I consider a friend. Haven't much dated either since seems like a chore.
I do wish sometimes that I was normal and had an active social life. Being single/alone at my age is beginning to look weird.