I’m not sure what you refer to exactly, but most people use the addon “total rp 3”. It has a handy map scan.
WELL… You either just walk into their group and start talking OR you start to look for singular people sitting somewhere. An rp guild might work for you as well.
Unfortunately that is what MAAAAAAAAANY roleplayers won’t react to. They might /wave back or ask what’s up IC, but from there on you have to continue the conversation.
Usually done in guilds, your guild is (atleast the one displayed in the forums) not a roleplay guild.
The shy part is good, because that means you can relate to the people who are too shy to approach others.
I just wanna mention that try not to have these feelings too much when roleplaying. Easy to say, hard to do, I know. The more you approach random people, the less shy you become (IRL too, atleast that worked for me). Don’t feel frustrated because another character dismisses yours or so, it can happen. Don’t feel discouraged to approach more people because of one or two bad situations. Trust me, there will always be someone who will be happy that you approached their character.