I, like everyone else don't think it has anything to do with your parenting.

My DS has some similar traits, doesn't really talk unless he is comfortable first, doesn't want to do anything on his own...I have to sit there and do it with him. I was also told that I needed to 'let him go' when he was younger, but I didn't think it was right due to the way HE was....and I don't think it was ME that made him that way, it is his personality, and I was strong enough to not let people convince me otherwise.

My DH has anxiety issues too....and I don't think he was parented in a way that nurtured that in him, which I find sad. DS is just like DH and I just make sure that I don't parent DS the same as MIL did to DH! MIL is not a bad mother though, just didn't handle things the way that I would of.

You sound like you are doing everything in your power to make sure that your DS is OK with the world and what more can you do? You can take him to see someone and that will perhaps clarify things for you that the way he is is not because of the way you parent him. To me, you sound like an absolute wonderful Mother.