[Question]How do I jam with friends?

I’ve played guitar for about 21 years now nearly everyday. I don’t learn songs, I really don’t try to mimick any kind of style. I use it as a kind of meditation. I know my basic chord shapes, I can play the major/minor scale in any key all over the neck, I know how the different pentatonic scales fit into the major scale, and I know I few other scales ( not as fluently as the major scale but I can wing it. ) I’ll make little riffs and throw them into Studio one 6 or on my looper and just make shit up, improvise.

All that being said… I’ve never played guitar with anyone. I’m shy, anxious, have never reached out, and just feel scared to play in front of others. I changed that a bit, I have a TTRPG group that welcomed me in a few years back, and last month two of my friends had an electric guitar out with a talkbox. I’ve never touched a talkbox before and I decided I would try it out.

I guess I blew them away.

I agreed I’d try to jam with those two, one on piano and the other on saxophone. Now that I agreed to do it I’ve been in panic mode. I don’t believe there is anything anyone can say to chase away the nervousness and anxiety I feel, what I want to know is how did other guitarists first jam sessions go? What are some good tutorials, lessons, or general information for jamming with others? What should I do to prepare myself?

Thank you, for reading this random internet strangers.