Hi Phoenix,
Until my mid teens, I thought I was worthless. Thus, I had difficulty making friends, and was constantly bullied. What began to change this way of thinking, was the death of my grandma. Reminiscing about her suffering, made me focus on the fundamental sameness of all people. After her death, whenever I would see a person suffering, I would see my own suffering and forget my social anxiety, and as a result of this empathetic way of thinking, I was constantly put in a position to make new friends.
You do need to set limitations on how much you give though, and make sure that the relationship is symbiotic. I use to make the mistake of giving myself to others, until I would feel empty. I did this partially to alleviate my gender dysphoria, but primarily because I still didn't address my feeling of not deserving anything.
All people desperately need to be appreciated and deeply heard. If look for how you can help the people you encounter meet those needs, while honoring your limitations, then you will know how to approach becoming friends with them.