As a former homeschooled child (K-10, I started attending community college in 11th grade) who is still in contact with many dozens of friends I met through homeschooling, I would agree. I would say that my homeschooled friends probably average just a bit better in the social skills department than my friends who attended private and public schools. That said, my homeschooled friends almost all came from middle-class, two-parent households from the suburbs, so my guess is that any advantage in those skills was more likely to be due to that than their schooling.

If you keep your kids locked at home 24/7 they will certainly have difficulty learning how to talk to other kids and adults, but nearly nobody does that. Most homeschooled families were involved in organized classes and activities with other families, even 20-30 years ago and my impression is that those experiences have only increased.