Giving your character a goal that involves other people can also help. For example, I have a character that's a kleptomaniac. I start interactions by trying to steal from people (I always get their consent from PM beforehand). I have a character who owns a clinic with bad business. She's always trying to get people in so she's always commenting on people's health. Another character I have is fascinated with stories and other people, and is awkward enough to approach people that look interesting to her. These three characters have immediate goals that involve other people and I find are great ways to get people involved. Of course, if people can't see me or it's clear they wanna stick with their group, I always back off.
Another interesting idea that's a bit of trial and error is to look for people sitting alone in the tavern. Chances are, if they're not afk, they're too shy to engage in roleplay and want someone to come to them. Of course, the only drawback to this approach is it's a bit embarrassing if they /are/ afk. But no ones judging you for trying to engage loners. <3
Good luck getting more engaged with others and getting yourself out there
Edit: another good way to engage people is to comment on their skins. "What a lovely dress!" "You sir, look like a sailor." "I haven't seen an Ur in ages."
