It can get better. Try every path that you ever hear of until you find the one. You will find one. You can do anything you WANT, it's a matter of wanting to do it.
As soon as you open up to people you will make friends, it's not hopeless but it takes a lot of practice and a lot of small steps... Start small. For instance, perhaps start walking your dog from 2-7 instead (more people will be out) or start smaller, step outside your front door at 1pm and then go back inside, or something. Then take it from there
I have found that I make friends when I am completely open and honest about every little thing. If I am thinking something about the person and I say it to them (even if it sounds a little bit... creepy) I have a way better chance of the person wanting to be friends with me. I think the only people I have befriended since I lost all of my friends (not many, mind you, but extra admirable people) are these types that are open and just are who they are.... So, there is hope in practiced honesty after taking small steps to exposure yourself