I would like to add my two cents to the discussion. What we all yearn for may on the surface level seem like distinct and very specifics things, but at an underlying level we seek a human connection. In my experience, the way you establish this connection with every single person is unique and very much calibrated to the needs, wants, opinions and desires of both parties involved. You know from what standpoint you approach people, now it's prudent to pay attention when you interact with people how they respond and perceive the world.
Your feeling of shame stems from not being experienced enough how to present your vulnerable and inexperienced parts without feeling afraid, and not knowing how to approach people so they see through both yours and their filters and really see the truth instead of something distorted by clouded perception. We all seek validation, and there is always a fear of having our most vulnerable parts attacked/made fun of/ridiculed. If you practice on establishing connection and grow a bit bolder in the process, you will not only learn to handle the potential rejections easier, you will also learn how to calibrate your approach to get the other side to really notice you and help you get the message across. Once you do manage to reach through and connect with people, you'd be surprised how many things they would let you do, stuff you would otherwise hardly believe was possible.
Failure is inevitable, sadness is inevitable, pain is inevitable; you cannot learn otherwise. Take the hits as you go, don't give up, and little by little you will toughen up, wisen up, and learn to do things better. Pain is mandatory, but suffering is optional.