People judge others to be like themselves so obviously this ESFP doesn't quite get that others can have different approaches to socializing and not everyone is a social butterfly like herself/himself fluttering about from group to group accomplishing its "job". Extraverts just pick up the talk. It comes naturally to them. Introverts don't. I would try to explain this to ESFP and also ask her to finally learn the difference between antisocial and asocial. If I am introducing a new person to a group of people I naturally feel responsibility to make it go easier on them and if they are not speaking up or connecting ask them questions about something they can easily talk about and feel less awkward.