Good advice below.
Your daughters may be a bit behind if they haven't dated at all. It's not clear from your post whether they have gone to movies and high school games/plays with a group, and have just not done couples dating, or whether they have not done anything at all including proms and dances. Have they been asked out but have declined? Have they never been asked, and therefore need the social skills to accept/turn down an invitation?
Was it their decision to stay home and not go out on dates? Or was it yours? If you were so entirely focused on academics, they may actually experience a huge awakening with all the newfound freedom. So I would discuss this with them, that it's normal to overreact to the lack of supervision and curfews, and that may mean making some bad decisions.
If you haven't discussed sex and contraception with them, do so. College doesn't have to be a giant sex-fest, and there is much greater awareness now of people's (especially women's) rights to not be sexually assaulted. No woman owes a man her sexual attentions, no matter how charming or generous he has been, and no matter how much she has had to drink. But please educate them about these things so that they don't feel pressured because "everyone's doing it." Not everyone is. But college kids are in a lot of situations they haven't experienced before, even if they were dating and going to a lot of parties/events in high school. Be sure your daughters are aware of college services available to them, and that those services are entirely confidential (no one's going to notify their parents).
They also need to be good time managers, so that they do have time for a social life. That's absolutely critical to the college experience, and it's part of making them well-rounded adults in every way. They will be better doctors if they have extensive experience in meeting and getting to know as diverse a group of people as possible. That means joining in on activities and attending things they have never experienced in high school. That means going to study sessions, yes, but also to athletic events and concerts and performances, and to orientation programs and special events for freshmen. It means getting involved in mixers in the dorm, but also within departments. It means joining a club or attending a protest or doing community service. You can't buy a wardrobe unless you try different things on, right? So you can't get an education if you don't experiment with different events and programs that stimulate your mind way beyond the textbooks.
College offers a ton of venues - all the programs I've mentioned above. Kids tend to do a lot of stuff in groups, so that's perfect for your girls. Even a specific "date" usually involves going to something on campus. If there is a big fraternity scene, be aware that those usually include alcohol and more. There is plenty of alcohol and weed, and other drugs, in dorms as well. Your girls need to learn to recognize it. If the college is on a fairly self-contained campus, those will be their choices. If the college is in a city, there may be plenty of things off campus as well. Movies and restaurants and public performances are all safe, although FYI most college kids don't have much money for that stuff. College kids also do plenty of studying and entertaining in their own rooms, so your daughters can expect to be invited into someone's room for study dates. They have to have good judgment here. Saying "no" to going to someone's room is over the top - but they need to stay sober and alert until they know someone extremely well.
I do hope they have a terrific time and break out of their shells a bit. This can be a phenomenal experience!
I also hope that they will take courses outside their individual area of study. They will be more well-rounded people if they don't just take pre-med classes but also take one in film criticism or modern Japanese history. And, just so you know, there are many kids who go to college absolutely set on a particular major, and then actually change their minds.They don't have to declare a major until the end of sophomore year. I hope you are open to this and that you want them to be happy, not just doctors. An awful lot of pre-med students are committed to the program, and then they hit Organic Chemistry and crash/burn. The whole point of college is to explore - so please support them in spreading their wings a bit and letting them fly in whichever direction they want. They sound very disciplined and I am sure they will find success in whatever path they choose.