It's like "Well, sure, they can be gay, but ~holding hands in public~? We've got to have some sense of morality around here or we're no better than animals!"
Living with your parents in your 20s isn't cringe, it's a powerfule economic decision. Having or not having kids isn't cringe it's a personal decision. Carrying a dog in a purse is cringe, it's practical. Being an impoverished drug addict isn't cringe. Crying out for help with mental illness isn't cringe. Telling loved ones you love them in public isn't cringe.
Inviting people to continue sociallizing with you at a later date isn't cringe, that's just fucking friendship.
People are using the word to label entirely regular perfectly acceptable behavior as if it is genuinely bad simply because they don't like it. Sure, okay, you personally don't like it when people express interest in you beyond your 30 second attention span, but who the fuck gave you the right to decide that society can't make friends in public? Damn, okay, OP said it was cringe to ask people if they want to hang out, guess I'll just die a hermit.