This is essentially sound design from first principles. There's a good book here: https://www.amazon.com/Designing-Sound-Press-Andy-Farnell/dp... Note that the software used (Pure Data) can be replaced by another high-level language (SuperCollider: https://supercollider.github.io/) pretty easily. I know of no "tool" to do what you want because there are few things that are universal to different kinds of natural and unnatural sound. (Note: study acoustics and psycho-acoustics to better understand why the former is true.)
I was going to post the same link to Andy Farnell's book, it's one of the finest resources for procedural audio that I've found. A bit later I will post some links to software synthesizers based on simulating specific physical processes.
Be other focused, not self focused. You have to want to interact with people. You can cultivate that (if you don't have it naturally) by working towards a real interest in other people, who they are, what they like, what they can teach you, etc. Learn to listen, to ask questions, to remember names and details. In practicing that, you may find you are no longer anxious. The real benefit, though, is that you will make friends much easier and find that you really do like people and social interactions. (P.S. this will also make you better at work and any other interactive relationship.)
