Friendship is a mine-field. No-one has the same definitions of any words that define values- eg 'good' 'bad', NT's generalise these relative to themselves, so it appears as if they all agree on something but they dont. We are not bad because of this social difference, it's just what some ignorant people think. There is a problem though, and the best way I've found of dealing with this at this moment in time-(am still working on it) is this, stop focussing on the words, most average NT's, do not mean anything they say anyway- "it's just words" to them. So I don't waste my energy on trying normal word responses- I do have to tone myself down a bit because I would go off at tangents that seem relavant or humorous to me but non-sensical to them, but dont try to be 'normal', whatever that actually is.
These are the things to focus on and try to make a few friends who appreciate your ways. These people do exist, finding them may be a bit of hardwork, dont take each failure to feed anxiety and feeling wrong etc etc going over and over each thing. It doesn't matter. NT's make social mistakes too, they are prey to each others lies and falseness too. What I have found is that if I am just genuine and not trying anything except to not say any thing too sharply, or bluntly (why do they mean the same???) things may not always go the way I want, but I dont get harassed or confused so much.
The only test I can see to define whether a friend is genuine or more than an acquaintance is this, ask them to do you a favour that will inconvenience them just a little- and watch their reaction. If they get evasive and confusing, they are not good, if they offer to do it that's great, or even if they cant do it when you need it, but are kindly offering another time they are good.
The other thing I have noticed is that people who when you first meet them have a very friendly and intimate manner, and ask you lots of questions are false and nosy. They seem warm and friendly and so nice and have hundreds of friends, but they will not be a genuine friend who will be there for you in times of trouble.