I don´t know were to start. I´m not that good with relationships myself, but I hope I can be of some help.
Now take a few steps back so that you can think things through. What are the things that right now make you unconfortable, the things you can´t stop worrying about? Once you have that, think. What can you do to change that? Is there something you can do, maybe change your attitude towards something, look at things from a different perspective? If there is something you can do about that something that is worrying you, make a plan and start acting. If there is nothing you can do, then, why worry?
From what you´ve said, it seems you´ve been having a hard time this past few years. You need to reflect on that. What is it that you don´t like about these past six years? What would you have changed, what would you have done differently? Is there something you can do about it now? And remember, you didn´t waste those six years, there is always a lesson to learn. You are 22 years old, you have plenty of time to reorganize your life and do what you´ve always dreamed of doing if you´re not happy with your life right now. You just need a dream to follow and a lot of courage and strength to make the right decisions.
Sometimes is hard to find people to talk to, people who would listen to you. Try talking to your parents, you are their son, they´re always going to be there for you and ready to listen to what you have to say. Try meeting new people, maybe join a club that does something you like or do some volunteer work. You´ll meet really amazing people, you just have to give them a chance.
Don´t feel bad about not having a girlfriend or about not having your license. There is plenty of time for that and you are definetely not a loser because of it. I don´t have my license or a boyfriend either and I´m the happiest person on earth, I don´t feel bad at all because of it. Who says you need a girlfriend or piece of paper to feel great about yourself? If you want a job, make an action plan and look for something that will fit your schedule and that you like. Once you´ve find that job fight for it.
About the problem with your cousin. People are very complicated, and the only person we can really get to know is ourselves. You don´t know what is going through her head or what is really going on in her life. Maybe you´re not the person she needs to have close right now. But that doesn´t mean you have to stop talking to her. If you feel this relationship is not going anywhere then talk to her. Tell her you´ll be there for her if she needs anything, tell her you really appreciate her friendship but tell her how you feel. That you would like for her to return your calls, talk once in a while.
You have a long and beatiful live ahead of you. So many cool things to do, places to go, people to meet. YOU ARE NOT A LOSER. You just need to rethink your purpose in life and your goals. Once you know that, go for it. It might take you a year or ten years, but if you´re fighting for what you want then life will be worth it.
We´ll be here to support you and give you advice whenever you need it. Smile, YOU CAN DO ANYTHING YOU WANT, no matter how difficult.
I really hope things get better for you. Please tell us what you´ve decided to do. Good luck!!