We evolved in small groups. We evolved from a long line of hominins that lived in small groups.
Feeling comfortable and gaining "social energy" from being in groups is natural - literally an evolved behavior.
This doesn't exclude introverts, but introverts and extroverts gain and consume social energy differently.
Many of us are introverts. Many of us are comfortable being alone for long periods (which is genuinely stressful for extroverts). But the ability to be alone without a penalty doesn't mean we should always avoid people.
Try this: next time you're in a group of compatible people (or a normally functional family, where compatibility isn't necessary), stay in the group, but "tune out" (including turning off your "masking"). i.e. don't try to keep up with everything that's happening between the other people, and don't "lock in" to one person either.
"Tune in", or interact when you feel like it, stop when you don't. Interact with different people, rather than just the closest. Be patient (unless you already know how to start/stop brief interactions, but if you don't, you have quite a lot to learn).
Don't, under any circumstances, get into a long explanation of anything unless you're specifically asked, and get explicit "continuation signals". Structure any explanation of anything around that (so it's more like a series of interconnected "sound bites" than a concise, correct, consistent, complete explanation.
You only need to prepare one thing: a short, simple, polite way to explain you're zoned out.
Don't say why.
If asked, or if I miss a cue, I literally say something like "I'm low on social energy today". It's ok to prefix that with "Sorry I wasn't listening", but after missing a cue, it's better to just ask the person to repeat what they said.