I have some of those issues, though not all. Like you, I spent a lot of time alone as a kid. On the bright side, many successful people and artists were also people who spent a lot of time alone.
I definitely wish I was a more huggy/feely type person. I do have close friends and am not short on acquaintances. But I am usually more at peace alone with my husband and son than I am out lunching with friends. I sort of "make" myself go out with friends because I don't want to shut myself out from the human race.
One thing that I have pondered is whether or not I can be a "closer" person. I've tried to give hugs more when I see friends, but being that it doesn't come natural for me, I feel a bit of a "fail" at trying to be someone I'm not. I have friends who like me just the way I am, so I should be happy with that. But I do sometimes wonder if it's possible to change.