Well I wasn’t going to comment because I thought everyone here was going to say “you’re describing everyone we all feel that way” but I guess not haha

Everything you said in your original post is something I’ve said when describing myself to my SO or friends. I’ve been called condescending and I’ve worked very hard to not be that way. Sometimes when I start hanging out with someone new or get a new coworker I can tell by first impressions they aren’t going to like me. Nowadays I can usually turn it around but in the past I would just try not to bother them. People will say “why do you hate me?” and it will catch me off guard because I dont feel that way at all.

I’m also told I can be very argumentative. I get that less now as I am more aware of it, but people who know me know that I am passionate about my opinions.

I don’t have any advice besides thank people who give you feedback. Being yourself doesn’t mean not working on your social skills, they can be trained like anything else. I’ve definitely learned better habits, I have more and closer friends through years of work and introspection.

Also you are not a psychopath and there isn’t anything wrong with you. Most likely your social type isn’t the majority and you have to work a bit harder to gel with the mainstream. Its just something to be aware of. I often feel like my '“true self” is hidden from others, so I try to be as real as possible with my SO and my closest friends.