Autistic/neurodivergent people: How did you learn to socialize?

People say to "just be yourself" in social situations... except my 'real' self is extremely annoying. As soon as I start feeling comfortable around people, I do not shut up ever. I completely overpower the conversation, interrupting people, only talking about myself, and making dumb jokes that aren't funny and are sometimes even offensive.

The only solution I've found to this has just been to go into professional mode. I'm very good at job interviews and professional communication, so I just kind of act generally polite and calm but with zero substance. Which is nice when you're just getting to know someone, but it's hard to actually make any friends.

Are there any other autistic people who have actually learned how to be casual without being weird and annoying? How did you do it?