How can you make the best out of a bad lighting situation?

I'm a new photographer and I just got home from an event I was taking pictures at feeling very discouraged and honestly a bit peeved at myself for the photos that I got. This event was in someones living room at night and the lighting was very very dim.
I get discouraged from using flash in those kinds of intimate settings because it can be really annoying (or maybe I'm projecting and people actually don't actually care)
Anywho, I got into this event for free because I offered to take photos but they all turned out terrible. Waaayyy too much grain, super blurry?? and like I said very very dim. I don't even know if any of them are salvageable at this point. I was trying to prioritize getting a light photo and I guess because the aperture was too low and the iso was too high and the shutter speed was too low it all became a mess but I have no idea.
Here's an example of what my camera settings were at the time. Also I'm working with a Cannon ESO R10 with an 18-45.
F/6.3 1/30 ISO 12800
Please please let me know what I could have done better to take a better picture!