I know a
ton of home-schooled kids and this is far from universal.
Yes, kids who were home-schooled because their parents didn't want secular society interfering with them raising their kids in a niche religion are more likely to experience this. Even in those cases, however, I found that the kids adapted rather quickly.
In most other cases[1], the parents were explicitly worried about their kids' socialization, and found many opportunities for the kids to interact with other kids their age (e.g. typical after school activities like sports or such).
Many of the kids I know who were both home-schooled and socially awkward started in public school and were pulled due to bullying &c. To say that the home-schooling stunted their social growth is a counterfactual; it's just as easy to see them ending up worse off.
For the most part, I would say that socializing in public school vs. homeschooling is a bit like communication with in-person companies versus remote; in the former it just "happens" to some degree, sometimes well, sometimes poorly; in the latter it requires intentional work to happen, but can still happen.
1: A notable exception is one person I know who was homeschooled by parents, with a father that traveled a lot for work and took his family with him. She was often in situations where she had fewer than 5 kids around close to her age who also spoke English.