I'm very similar. I tend to care about people and want to help them, but I don't understand them at all at. I feel OK in a small group of people where everyone has passed my "danger/trust test". But at the end of the day, I need a lot of time on my own, only then I can fully relax and be myself. When I'm with people all I can think of is how not to embarrass myself and what are they thinking of me.