I've read that a good way to figure out if a service dog could be of help is to imagine a friendly robot, and how it could help, and then see if a dog could do that. If a robot would nudge me whenever a person I knew, or should know rather, was present, even50% of the time, that would be amazingly helpful.

Spectrum! Looks like Alia has been spending a lot of time reading your posts on the forum!
Welcome Alia!
I don't have an ESA, but I do have companion animals. I have two cats and the first one (Hobbes) I got as a kitten 14 years ago as a present and just her presence has helped a lot. You can't close yourself away, because an animal doesn't understand that you don't feel up to putting food in the dish.
Spike I got about 2 years ago from the Humane society because he was very elderly (about 20 years old at the time) - He's still with me, climbing on the furniture and wanting me to turn on the faucet in the bathroom sink so he can have flowing water to drink. (I need to get new motors for my drinkwells).
Max my dog I got about 16 months ago on a trip to donate some cat food to the Shelter. Normally they have dogs that are just too big for my apartment complex which does allow dogs but they must be under 45 pounds. He is about 30 # , and was very polite while visiting the cats in the cat room so he came home with me. He is a great dog, loves people, is welcome in the H&R Block office, and the apartment complex office because he doesn't jump on people, doesn't growl at anyone, and loves to be petted.
None of my pets are "official" ESAs. However, walking Max in the area has let me be more social and talk more with my neighbors.
I do have some diasabilities that I think a SD would help me with, so I am applying to programs and also here to learn a bit while I wait for a partner to join my family.