I have EXACTLY the same issue.

ADD to that, I'm also very uncomfortable around women. I envy you guys that have any friendships at all.

After a very hard short lived dating experience, I've just now learned that I haven't got a clue what "intimacy" is.

I don't understand intimacy. I mean, sure, I can "talk" very intimately, but non verbal intimacy? NONE.

I'm all alone on this planet because of that. My heart is broken. Has been broken almost all my life.
It's a heroes journey, and you are the hero.

Loving Kindness Meditation will dramatically improve your spirits; give it a try for just 3 days: http://www.youtube.com/watch?v=sz7cpV7ERsM