Sorry about the late response; I meant to respond to your post earlier and then just forgot about it. The story of my life.
In many respects I am much like you. I tend to stand in the background largely unnoticed. I find it hard to meet new people but I make the effort. Luckily, I have family to fall back on if I need help.
From what you have shared your family background seems less than supportive. I'm guessing that has left you with a bunch of problems that most people don't understand.
Are you working? Do you have any interests; online gaming, cards, sport, music, bush walking, surfing etc. By way of some practical assistance, there is a web page called "meetup" that will connect you with people in your area that share similar interests. It might be worth a look. Just google "meetup Australia".
As to your question, you are not alone; others are in the same boat.
Let me know how you go.