How do you get into friend circles/hangout with friends?

I've been trying to be pretty socially active for a long while and has met a lot recurring people I chat with. But I cannot really seem to find to find a friend group in general. Most of the people I know, I meet at events and stuff , but don't know how to initiate hanging out with them generally outside the events or get into their friend circles and so on. Tbh it definitely took me a lot of time to even get to this stage 😁, due to my really poor social skills/anxiety in general and being an introvert, getting to talk to even these people in a recurrent manner (other than when I was in school or college) is kinda new for me tbh as I've been mostly wfh from beginning. Anyone have suggestions how to deal with this weird limbo?