Bit of an old post, but your title spoke directly to the core of my being.
Fortunately I do not have to deal with it in my home life in quite the usual way you mean since it’s with my wife and kid, but it was and absolutely would still be with roommates.
But yeah just the energy drain of knowing you are being perceived and then imagining and evaluating that perception from their perspective… For example, I will do basic outdoor stuff in a consciously arranged way just in case somebody is driving past or looking out a window across the road.
I figure it is Rejection Sensitive Dysphoria, often seen with ADHD, plus an upbringing in a conservative culture where basic communication was via criticism. Combine those in a nice hyperfocus crucible, and my brain begins assembling them most likely put-downs before I even start an activity.
Oh and finish by sprinkling on some Gifted Child syndrome. When everything comes easily during your formative years thanks to hyper focus and minimal socializing, it can mess up how your lizard brain reacts to challenges.
Fortunately, realizing these things are true makes them a lot easier to deal with.