I know this is much easier to say than it is to internalize and believe, but it doesn't matter what any singular person thinks about you. There are people out there who do their best to understand and accept you as you are, without using what they learned to make half-assed guesses about the rest of who you are. They may be few and far between (or maybe not), but I know they exist. As soon as you start looking for those who accept you instead of trying to be accepted by those who don't, you'll be on a better course. And don't be afraid of anti-depressants. Depression makes yiu want to give up on fighting, makes you think nothing can help. It's a lie by which the illness sustains itself. By listening to that lie, you may protect yourself from harm, but you'll also "protect" yourself from finding happiness.

And remember, parents, old friends, etc. who don't necessarily get you too well aren't necessarily trying to be cruel, but you may never have quite the relationship with them you wish you could. They have their own problems from their own anxieties and abuse growing up, their own mental health issues, etc., and that can limit the depth of relationships they can achieve with you. Try to be patient, but don't drive yourself insane trying to achieve what isn't possible.

And if you feel like you don't belong, maybe you don't, and maybe that's okay. Maybe you're neurodivergent or simply have morals or interests that are incompatible with theirs. But the fact remains, there is someone who will accept you and with whom you can belong in peace, if you can open yourself up to let them. You haven't lost until the last time you give up on finding them. Giving up on something you still deeply care about, without eventually picking it back up again, is the only failure. It's okay to quit, but don't be afraid to come back to it if you care about it.

~ advice I try to accept myself, would give my younger self, and may hopefully be at least a little helpful for you

I wish I knew this before I wasted so much effort trying to build relationships with assholes.