You would do well to not measure your own life and life goals at other people's standards. Life can come in all shapes and forms and there is a chance for anyone to succeed in their own goals, even if those goals do not look like other people's.
I thought a lot about it and I pretty much have made peace with the fact that I will probably never have a family. There is still a chance for everything of course so I'm keeping myself available. But it is not defining my life or who I am.
I see a lot of people like you who struggle with social life and think they're wrong somehow, when it's completely the other way around. A social life is not what you need to complete you or make you happy. A social life will only make you happy if you're already happy by yourself. If you're not happy with yourself nothing else will make that for you and your doubts about yourself will sabotage every single relationship that you're in. It's not your job to conform to others. It's your job to find a way that works for you. And if something doesn't work that doesn't mean there's something wrong with you, it just means you still need to find things that are compatible to you.
So work on yourself, search yourself and figure out what you need to do to make yourself satisfied. It will make you more happy, confident and in return will make you both more attractive to others and more stable.
BTW the vast majority of parents are babies in adult bodies that have no idea what they're doing. The only difference between them and you is that they just went for it because they don't have much else to worry about.
If you demand respect or gratitude for your volunteer work, you're doing volunteering wrong.