I don't think they are trying to say that everyone can ACCURATELY read minds, just that it is natural for us, in certain situations, to TRY to do so. People "try" to get inside each other's heads all the time. In that sense, it is "natural" to human nature. And there are these weird times there seems to be almost a telekinetic connection. But it's more a sense, and a feeling, than an actual knowledge of what is in someone's head. I'm actually fairly good at establishing that sort of connection out of people's written words, reading "between the lines" so to speak. I really can't say how that varies for Aspies. It seems like my son has a relatively normal amount of "instinct" when it comes to others. The difference for him, perhaps, is that he has to remove all the other noise from his brain, first, and focus his thoughts on someone else. THAT is what isn't natural for him, but he is capable of it. I think, lol. I'm having trouble thinking up examples, just, well, sometimes he does just "know" when it comes to me, at least.
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Mom to an amazing young adult AS son, plus an also amazing non-AS daughter. Most likely part of the "Broader Autism Phenotype" (some traits).