This is EXACTLY the problem that I had for years......it slowly improved by me starting up bodybuilding and becoming a doorman, then I gradually got some respect. (Not saying that you should do bodybuilding to get confidence socially)

I dont only follow they around . When im alone with 2 members of that group, one of them is my friend, i can have conversations at ease, but once the rest of the group comes in, they go running to meet them and act as if they finaly got rid of me.
anyway, since the last time i posted that , i sort of improved a little bit. I came up to some conclusions, and pls dont make fun of me and correct me if im thinking wrong:
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U only start joking\bantering once u already have built trust with them, if u start joking and bantering without some time of "formal" interaction with the group\person, u will be flagged as either Rude or Weird (am i right? (again i come from a total hardcase noob place , so dont make fun of me)).
So what i am trying to do now is, try to intrude less, but still say "Good morning, good afternoon " with a smile to everyone and keep observing.

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- English is not my main language, so don't mind my mistakes pls.