YES I experience this as well. It’s much better now, but for years I dreaded being left alone. As you said, the presence of others can help. In these situations I often call my grandma, because she will talk and talk and talk and thus take up a lot of time and I’ll feel less alone (and feel good about calling my grandma). I also try to find any living thing, like birds at the bird feeder, to talk to. Lastly, I sing. Very loudly. How often do you get the chance to let your guard down and sing freely and know no one’s listening?