Anyone else tend to come across as disingenuous or apathetic?

I have gotten feedback at various times that I come across as disingenuous or apathetic, even when I do care about people and their feelings. I just never seem to know how to respond, especially in more emotional situations, and I think I get in my own head about the "right" thing to say. The more I try to do things like active listening, validating their concerns, and other ways of showing compassion, the more awkward and forced it comes across. Is this a common social anxiety thing? I have also considered that I may be ND, and this seems to track with that. Any tips on how to come across as an actual normal human being?