It sounds more like she hasn't had much opportunity to socialize with other kids than anything more serious. Does she go to preschool or daycare? How does she interact with the other kids there? If she's an only child and she's home with you all the time, she may just be unused to other kids. My oldest had that problem. I didn't know lots of people with kids to socialize with and preschool wasn't in our budget, so she didn't have the idea that she was supposed to talk to other kids, or even talk in ways that made sense. I started babysitting so she'd have some other kids to socialize with, and she improved almost instantly. Within a year, she had a whole pack of little friends and she talked more than any of them. By the time she went to kindergarten, she acted just like all the other kids.
My best friend went through the same thing with her son. She thought he was autistic (and he may have a mild form of it, they're not positive yet) because he didn't talk, was extremely sensitive to noises like the vacuum or lawnmower, was obsessed with trains, and very particular about food. She took him to the elementary school for an evaluation and he qualified for the early intervention program. He just finished his second year of pre-k and he talks like a normal kid now...before he hung out with kids, he spent all his time with his mom or his grandma and so he didn't know he was supposed to to talk.
Playgroups or vacation bible school (even if you're not religious) might be a good, inexpensive way of finding kids for your daughter to socialize with.
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