Reddit reviews Friendships Don't Just Happen!: The Guide to Creating a Meaningful Circle of GirlFriends
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You could try studying it in a more technical manner. Googling "Aspergers social skills" brings up a lot of research material. Go through it, see what makes sense to you.
EDIT: Also, this book lays a great framework for making friends.
>I even gathered up the courage three times. Those times weren't poor attempts to manipulate his emotions. They took every fiber of strength I could garner. I went into it CERTAIN that I was going to leave. But I keep failing.
It sounds like you need more support to move on. Work on building that support network in any way you can. You say you don't have a close knit circle of people to confide in - you need to work on that, otherwise you will always be very vulnerable to toxic, unhealthy relationships. Therapy is also a great place to start, until you have that network established.
I strongly recommend the following books, to help you get started on building solid friendships:
Friendships Don't Just Happen by Shasta Nelson
Frientimacy: Deepen Friendships for Lifelong Happiness