I feel like being socially adept and charismatic are different from being able to communicate clearly and effectively.

The former comes from intrinsic self-belief and acceptance, as well as genuine curiosity about the people you interact with.

Clear communication is more of a skill that you could learn from a book or guide. It depends on if you want to write or speak convincingly - writing structured arguments is definitely one way to clarify your thoughts and organize them in a logical way. This guide from Animalz provides one great persuasive writing model: https://www.animalz.co/blog/bottom-line-up-front/ In terms of interacting with a team and leading different types of personalities, I like the business classic Five Dysfunctions of a Team: https://a.co/d/jc3UExI