Hi, great idea to reach out here. There are lots of people that can relate to your situation, including me.
Being a bit socially outcast at 23 is emotionally hard, and I know it sux, but it's not as bad as it might seem. You still are young, and if that's not what you want from life, there is hope for things to change.
You have spent the last decade on solo interests, so you haven't learned some of your peers' social skills. That's okay, you can learn them.
The problem is that most of the people around you will be interacting in a way that you don't understand. Some people you might think are a bit lower IQ will be performing on a social level that you might not understand yet.
The way to get there is much like the way you got there with math and programming. You had an interest, and you practiced. You probably started very frustratedly, but you kept going because it was fun. You have to try this with people. It is fun to meet new people and talk with them. One problem is there are all these social rules and conventions that you are going to get wrong. The problem with getting things wrong in a social setting is that we feel rejected when it happens. Learning to recover from that is the key. It's not going to be easy when you are feeling depressed. Talking to a therapist would help if you can afford it. Develop some strategies to deal with this, and you will thrive. Most people don't care if you are awkward. They want friends just as much as you do.
I'd advise that you don't try to start with romantic relationships right away. Starting with something a little more shallow might help. Just hanging out with people will help, and there is less emotional risk.
I'd try to find something that forces you to interact with people. Find a group or club to join—something that you feel bad about not attending. Also, feel free to switch groups if you don't like it. After a year or so, you are going to feel much better dealing with people.
Also, don't feel bad about Tinder. It's not a good option. You are far better off meeting people through shared interests. You are also going to be in a great place in a few years. You will earn more than most and have less baggage from past relationships; you'll be a catch.
You can do this, it can get better, and you have a bright future ahead.