Is it normal to be afraid of friendship?

Over the years, I had a hard time keeping friends due to them not understanding the fact i have autism along with some social difficulty. I was told that I take things to seriously when I don't get the joke. Plus I can be sensitive too.

I don't like a lot of people due to my experiences with people.

I avoid friendships so i could avoid drama, annoying people, fear of picking the wrong people, being picked on, being a bad friend, not knowing what to say, making the wrong social move and so forth on.