There's 2 "wrong" things here. Not so much wrong, more a case of things you could do better.
1 your self image that you're extremely shy is a limiting belief. You weren't born extremely shy. The main reason for your extreme shyness will be you getting into the habit of being extremely shy. It's something you should give some priority to breaking. People that face down their fears tend to have better quality lives.
2 settling on this largely neurodivergent clique. It's fine that you're friends with them. You should also have friends that are neurotypical. Aim to get more than 1 friendship group that you hang around with.
If your jokes are insulting, or are socially uncalibrated, you should look to adjust the nature of the bulk of your jokes.
The odd insulting or uncalibrated joke is OK. It's when it's joke after joke that's putting someone down that it's too much.
If your jokes are fine, you can joke about them telling you not to joke. If you're amused by your jokes and no-one else is, that's not too bad. It's better than being straight and heavy about everything - when mixing with neurotypical people.
With some groups of neurodivergent people a reasonable habit to have is to say "I'm joking by the way" whenever they don't laugh as they may take a lot of things literally, because of the way their brains are wired.
Jimmy Carr has made a career out of telling jokes that are insulting to the butt of the joke. He gets away with it because he does it in theatres with large audiences that have paid to be entertained by his style of humour. Context and social calibration counts for a lot. There are other ways to get away with insulting jokes...