Could you help me understand how people form relationships?
What don't you know about them? Do you not want to form a relationship of your own, why not?
Because there would be no point of being with someone if you're not happy.
It is a good idea not to form a relationship when you are not happy with yourself. but relationships themselves are not bad. It gives you companionship and love and care and other things.
It's not just about being happy, it's about you being compatible with the person. Most people don't bring happiness to each other at times.
It sounds like you have a deep understanding of why not to get into a relationship, which tells me that you'd be fine in one if I'm being honest with you. Not being able to create a relationship isn't a good thing, and you should try to work on it.