I know this sounds simple and basic: But just approach people. Create something that doesn't start with "HI who are you?" - maybe run into someone, push them by accident, or do something that might be considered "weird" irp to get it rolling!
I remember when I first joined. I was deathly afraid of starting roleplay with people. But trust me, it's very fun and no one is gonna look at you weird for iniating Roleplay :3
Just go and emote, they'll emote back. We're all here to RP rather than jump aimlessly about - just needs the first step from either party. Lmk if you ever want to RP, I'll be game for it