I want to be a researcher but I don't think I'd be any good at teaching. What do I do?
Staying at the university, i.e., eventually becoming a professor, will be hard / impossible without teaching. There are, however, research facilities that are usually financed half by industrial projects and half by funding from the state. If you get a job in one of these, you will have to aquire money by getting research projects accepted, and are then free to do research without any teaching obligations. Note that your contract there will probably never be any longer than 2-3 years at once. I will then hopefully be refreshed, but you will not have a lot of stability.

The main question may be whether you think you can do your PhD. That involves giving several presentations (at conferences and during your defense), a rather high level of stress tolerance, and probably occasional preassure from your advisor, especially during the last year.

I had a colleague who might have a slight form of Asperger, and he quit about one year before finishing his PhD, because it got to overwhelming. But there were several factors involved there, including him not being happy with the direction his research was going. So that might have nothing to say!