How to socialize 2-3 year old? PLEASE HELP.

My daughter is 2, she turns 3 in December. She’s been pretty isolated a lot of her life, my fiancé and I lived with his family until she was about one and a half, she saw her aunts and some other family members, I was a stay at home mom while my fiance worked, no car at that time so our routine mainly consisted of me going to school and him working, we took her out some but not much, mainly on walks and to stores. All of her cousins close in age live very very far away in different states, and I’m a stay at home mom so we haven’t done daycare (mistake I realized), now we live somewhere else and she sees her grandfather regularly and some other family members pretty often. Her doctor at her two year check up was concerned because of speech and she was walked late so they began wondering if she had autism. My fiancé and I don’t think it’s that, we think she is just so stuck in our routine. We now take her out around other kids and try to do a ton more outside and go out around people several times a week, but our neighborhood is all retired people with a few college kids. She has never really played with another kid her age, and I feel horrible because I think its messed with her development. She now runs and talks and counts, it’s just she’s afraid of people and some new things. Sometimes when we go out she’ll run around and say hi to people but other times she’ll just want to be held. She is really attached to my fiancé and I and we want to start putting her in church daycare once a week for a couple hours to ease her in, but any other tips would be highly appreciated! She cries and breathes really loudly if she’s pushed into a new situation so we are praying the church daycare won’t give up on this. Any advice please! ❤️