Exposure definitely works. 100%. I know that being around people constantly or being exposed to stressful situations made me more resilient. But don't chew off more than you can handle! With me the biggest issue has been social skills I never learned (such as networking, reacting to a situation, or learning how to read and judge people) because I never spent time around people learning those skills. And, much like exercising, you never want to plateau!
Having SA feels like being a scratched up LP that keeps getting stuck at exactly 10 seconds into Track 02.