Podcasts may not be your thing, but here's a bit of my story on how I did it.

https://completedeveloperpodcast.com/episode-190/

tldl; I used to be painfully shy and now I have a weekly podcast, speak at conferences, and am pretty outgoing. I start out with a discussion of some of the things that made me reluctant to engage with other people socially and then follow up with some strategies I used to get past them.