How do you deal with daily social struggles?

I really struggle with interpersonal relationships, especially at work where I have to be professional. Sometime I feel like I can’t express myself to people even If I am so open and talkative. If I see someone struggling with anything I intervene and try to help, it is an impulse! People think I am being arrogant or helping them to feel superior or something?! I also have huge problems with authority! I grew up in a strict system so I developed a sense of following rules and authorities.. yet If I have a boss and I feel constrained to do something I start complaining continuously (I do whatever they say anyway) and people hate being around me , I can’t blame them.. oh and my impatience and interrupting people.. things just seem so slow to me.. especially at work where people start talking about their daily life and I get distracted so I get super annoyed. These seem to happen when I have to work in a group.. when I used to work alone (I meant my responsibility is only mine) I got along with my colleagues but still had problems with authority..