It sounds like your friend was (and is) trying, but doesn't really know what to do. That's not your fault. It's difficult for a lot of people to understand, and it can be a scary or stressful thing to care for people you care about. I relate to being "intense" with people sometimes. I also find it hard to really ask for what I want or need from people - which is what I think you are saying - when sometimes you just need some company but your friends don't really understand that and maybe think you need more from them. They may also think that you go to your room because you want to be alone (again not your fault, but maybe something you hadn't thought of).
If there's someone in your house who has had a similar experience to you then I don't think you would be "burdoning" them. I think they are the most likely to understand what you're going through and might be the most receptive to you asking for what you need (e.g. "Hey, I just want to hang out for a bit" or "hey, can we just have a chat and a cup of tea") YOU ARE NOT A BURDEN. your feelings and needs are important.
I agree with Deb that maybe some professional help could be really useful to you. Not because you shouldn't go to your friends for help, but because professionals can help in a way that friends can't.
All the best,