Like you I have some friends and family, but I live alone with my gf, she doesn't go OTR with me, my company allows it, and I've thought about it, but A it would negate the need to keep paying rent on our apartment and B I'd probably hate it after a couple of weeks. But the option is there with most companies after you put some time in (seeing as the company would be absorbing more liability in the cabin during an accident, even though ironically the incidences of at-fault accidents decrease when a truck driver has a passenger with him).
Most companies have a pet policy, so you can bring your dog or your cat. I've seen a guy with a fucking aquarium in his truck before lmao.
I socialize mainly through vidya when I'm on my 36, other days I'm too tired and just relax with a movie and fall asleep. If you're even a little bit antisocial you will love it. If you're just introverted you'll enjoy it for the first 6 months, but after a while it will grow on you. It is a lonely man's job. If you don't have your CDL yet, do not go to a private school or company training. I got my CDL at my community college for half the cost ($2800) and they didn't require upfront payment. It's also generally a better education as well (around 140 hours of combined classroom instruction and drive time.) You won't feel like a cog in the license mill like you will at private schools, or company sponsored training who are just interested in you getting behind the wheel to make them money as soon as possible. Thetruckersreport.com has a trove of good information as well.