I'm a beginner also AND did socks as my first project....AND did my first sock inside out LOL So I know exactly what you mean. I finally got my kniitting on the right side so hopefully I can translate.
When I join I just keep knitting (or following my pattern) for a few rows so I have something to hang onto. Then I purposely turn the work so that my working needle is closest to me and the 2 other needles are pointing away from my body. This way I'm actually knitting on the outside of the group of needles. When I was doing it inside out I was literally knitting on the inside of the group of needles and the non-working needles were closest to my body.
Did that help or just make it worse?