Is it wise or foolish to be a cautious person?

Sounds like fear is an element of your reluctance to connect in the manner you describe watching others. Perhaps a conscious attempt to find a safe enough place to try a little deeper human connection, or warmer perhaps, but not so far as to risk real danger, either to the heart, the mind or the body. Perhaps a caring and competent mentor, someone a little older, who you admire, could help you with a plan.