I'm generally fine either way.
Doing things by myself at least means that I get to do what I want, when I want.
But, doing things with friends is enjoyable for other reasons, of course, because you get to laugh, joke, share stories, and create memories together.
I have no fear of talking to strangers--in fact, I love it--but still sometimes go out of my way to avoid acquaintances, oddly enough, because I don't want to engage in awkward or trivial "small talk," and because I also have this worry, I think, that interacting with non-friends "too often" will lead to interactions that will cause them to ultimately dislike or reject me.