I don’t understand a lot of things

Hi, I’m writing here because I hope some of you might have some helpful suggestions. I struggle a lot to understand what people ado or mean or how they see me in real time. I went out today with 3 other people and I guess I stopped talking and engaging at some point during the outing, because when I came back one of them told me I had been very rude, not talking and not putting any effort to make others feel happy. But I’m not sure of what they mean. I thought I was doing good. I thought people understand I’m a little shy and don’t talk much and don’t make a lot of eye contact but apparently they just thing I’m straight up rude. I almost don’t do social stuff like this because sometimes this happens. And I don’t see it. I get home thinking “oh, that was nice” and then someone tells me I didn’t respond or was rude. I don’t want people to dislike me and they hope I will make a promise to do better next time but I don’t know if I can because I don’t realize these things are happening. I don’t want to end up alone. I don’t know how to do better