Antisocial and unhappy toddler?

So my son just turned 2 and seems antisocial? I’m a SAHM so he doesn’t see a lot of other kids daily. He does have a cousin who is 18 months who he doesn’t like. Anytime he sees his cousin try to touch things he likes, he cries and tries to take them. When we go to his grandparents (who have tons of toys), he just lays on the floor and won’t engage. When we go out somewhere he doesn’t like, he will throw huge tantrums. When we go to the park, he plays but avoids other kids. If they come near the things he’s playing with he will often cry too. When he’s getting to do things he likes, he’s fairly happy, but when he doesn’t like his location or activity he will either cry, shut down and not talk/engage, or just stare around blankly until we leave. I tried to leave him in the church nursery during service a few weeks ago, but he screamed uncontrollable for 30 minutes until I had to just leave with him. He plays functionally at home and is mostly happy there, but doesn’t seem as easy going as his cousin. I feel like I have to work harder to make sure he’s happy whereas his cousin is usually all smiles and giggles. My son cries/yells at the smallest thing. Are these normal toddler behaviors or should I be concerned?? I just want him to be happy and it makes me so sad feeling like he’s only 2 and he struggles with staying happy. I know I’m probably overreacting, but his dad has terrible anxiety and depression and I worry maybe this is the start for my son.