Here is a part of an episode where Sheldon has created a schema for making a friend. See for yourself!
I feel that Sheldon actually is a success---he has a great job, has a circle of friends, a nice place to live, and many interests (maybe not shared interests, but interests all the same) He has the ability to reflect on his behavior and attempt to make changes. I hope the same for the kids at my school.
The episode here was real for me. I have piles of speech therapy materials which all attempt to teach friendship skills. It's often elusive and difficult to concretely explain. Friendship and conversational skills all require on-the-spot flexibility that this character does not possess. Sheldon and others like him will struggle, but he's on the right track! At least he's aware he needs to learn.