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Interpersonal & social skills aren't that hard. I used to believe they were, and that I just sucked at them, but that's just a self-limiting belief.
You just have to be nice to people (genuinely nice, not just because you want something) and show interest in others. It's like a game, if you can find their interestst and get other people to talk and talk and talk you're pretty much winning. The more they talk to you about their interests the more they'll trust you.
I know it sounds like sociopathic and so but it really is that simple. It also applies to dating. The #1 rule is to always let her do 80% of the talking.