"I realized a few days ago that I don't think I will ever be able to find a girl I actually like and be with her."

If that is what you believe, then that shall be your fate.

You say that you long for female companionship. I believe that you can make this a reality. However, there is no point in even trying if you do not believe in yourself first. If you like yourself for who you are, and believe that you can get a girl, then you shall be able to move forward. Just because you're shy doesn't mean your wish is impossible. And if you believe that being shy is what is preventing you from approaching girls, then that is the first hurdle you must overcome.