Assalamu Alaikum - My heart is heavy, how do I come back to Allah?

Assalamu Alaikum, Lately I’ve been feeling really confused and weighed down. My heart keeps reminding me of Allah and all the mistakes I’ve made. I think my words and actions may have hurt people and driven family and close friends away. Now I’m mostly by myself and it feels like everyone’s pulled away. I keep thinking about those relationships and trying to fix them, but I worry I might be making things worse. I live alone in another city for work and feel kind of lost and isolated. Even after normal conversations I replay them in my head and fear I said something that offended someone. May Allah forgive me. I cry and make dua, asking Allah for forgiveness, yet I still feel uncertain about what He wants from me. Sometimes I fear this loneliness is a consequence of my past and that Allah is displeased. I sincerely want to turn back to Him, to feel peace and be guided, but I’m not sure how to begin or what steps to take. Please offer me simple, practical advice - things I can actually do to draw closer to Allah and to try to heal relationships in a way that’s right for a Muslim. I would be very grateful. JazakAllahu khair