Similar to what i put in another post recently, i also have family members that do homeschooling. Four girls. All four of them are very well behaved and obedient and respectful to their parents and other elders. They are all talented in speaking German, art (have won competitions), horse riding (have won competitions), various instruments (been in multiple bands/won solo competitions. as well as having been in recording studios), singing, frequently performing in small concerts up to festivals. The oldest has been to Germany. As a family they have traveled to various areas of the US and even done some hiking in the mountains. They have also had their hands in other experiences such as gymnastics. They are all well socialized and have no problems with kids their own age or adults, because they get to experience such a wide variety of activities. They are also all well educated in all the primary subjects.
So they are probably better at socialization than most public school kids because they don't learn all the negative behaviors that can be learned in public school, and they spend time around a larger range of ages of people. They don't live in an area with a lot of home schoolers, but there are some. The parents simply create their own opportunities to educate and expand their childrens experiences. So lack of socialization and experiences (or this idea that they don't face tough situations and therefore will be helpless adults) has more to do with what they are offered and less to do with home schooling itself.