I just wanted to give you some encouragement -- there are people like those you've just described and you should definitely try to push your boundaries a bit and maybe you will find others you are able to form meaningful relationships with :)
My husband isn't ASD but he has a neurological sleep disorder that basically makes it so he constantly feels as if he hasn't slept in three days (or, how a normal person would feel if they hadn't. I don't think he could physically not sleep for even 1 day...). He was the popular, jocky, class clown type kid in high school -- friends with everyone. Since developing this disorder in his early/mid 20s, he's had a serious decline in his social skills. It's because he's so sleepy that he can't focus on a conversation or body language, or process what people are saying to him, etc etc. He just doesn't notice things or pick up on cues anymore. This has led to issues at various jobs with coworkers (plus them judging him as 'lazy' because he can literally fall asleep in the middle of any task, even things like soldering), and definitely curbed his ability to make and keep friends. He's got pretty severe social anxiety because of it at this point--only really leaves the house to go to the VA for doctor's appointments, visit family, or if I drag him with me; doesn't really even make phone calls anymore unless he's absolutely forced to. So he's having a lot of the social issues you are, just for a different reason.
I met and married him after this started; he's never been the kind of guy I feel super comfortable bringing in heavily social situations (parties with friends or whatever). There were, and probably always will be, moments in which he doesn't get what I'm saying or projecting, and doesn't necessarily react properly. There have been fights around this issue, but we're working on it. He's really a great person, one on one. I just like to joke that I can't take him in public because he invariably says something incredibly embarrassing (for me) and/or rude (to others). He was very reluctant to meet my family when we started dating, but due to the aforementioned disability, lost his job fairly quickly afterwards and we ended up moving back in with my parents for a few months -- they think he's great now, because they took the time to get to know him one on one or in small groups. In larger groups, he just fades away to the back and usually ends up on the couch messing around on his phone. Honestly I think my mom is more understanding of his social quirks than I am.
So basically my point is that you shouldn't give up and there are ways to have meaningful relationships without forcing yourself into situations that are terribly uncomfortable.
I also think that part of DH's strength in dealing with this is his incredibly thick skin -- he was a Marine and none of the situations you've described would have phased him one bit. I'm the exact opposite so I totally get why you want everyone to like you and why it's upsetting that your roommate was talking shit and the kids were sexually harassing you (seriously, that's what they did with the videoing/wife comments and I would honestly be tempted to pursue that if I was you...that kid is an asshole and will grow up to be an even bigger asshole if he doesn't start getting hit with serious consequences for his behavior). I'm working on not caring so much, and I think that's probably going to be a big deal for you too -- you have to get to the point where you honestly don't care about stuff like that. And....fake it til you make it ;) Especially in front of the kids. Teenagers are jerks and they will eat you alive if they sense weakness (sounds like a horror movie...).