i mess-up a lot socially due to miscommunication

I feel whenever i speak there is always a chance I'm gonna say something in a way others don't properly understand and i get really worried about it and when I'm not i always will accidentally word something that comes off as wrong or insensitive i don't know when and when not to reply to things. I hate that whenever i feel comfortable talking to people i always mess up and say something wrong and its not like i can take it back it gives me such a social anxiety towards if i should even attempt to talk to people in real life so i struggle making new friends I've already lost 1 friend group due to not properly being able to fit in with them or go along with their jokes and i hate the idea of loosing my current one and being on my own, though id like to add i am fully responsible and that i should properly learn to understand people and how others interperate things.