I tend to put on the "customer service" voice and keep conversation bland and vague, when it comes to strangers I'm not necessarily trying to befriend. I've lost a lot of conversational skills since I was pulled out of school in elementary, and I've almost always worked by myself or in silence.
I think listening is the biggest thing I try to do. Although I try so hard, I hold some very intense and uncomfortable eye contact....lol. People tend to start looking away, and I realize I haven't blinked or broken contact because I was trying so hard to concentrate on their words and feelings.
People talk big about autistic and ND people not having social skills and being "too awkward," or "hard to talk to," but I've met so so many neurotypical people who say the strangest things out of nowhere, or insert unrelated stories into conversation. Which isn't bad! I we're all just fish out of water and try to pretend we're not.
Moral of the story, you're normal! Social skills are called skills for a reason. You have to learn them, and I believe in you. Besides, having a "perfect" conversation is so stale and strange. I enjoy bouncing around and not always knowing what's going on, but knowing that we're passionate and enjoying what we're talking about (or I used to enjoy that when I really talked to others).
When it comes to expressing how I feel in important situations, I just researched different ways to vocalize my feelings. It's difficult at times.