Sounds fairly NT to me, something_.
My parents used to do all of the above and they certainly weren't on the spectrum. e.g I think the issue with the loudness at the restaurant was not about the noise (sensory hypersensitivity) but the fact that it is considered generally inappropriate to be loud and disruptive in a public place, especially a restaurant. Hence your mother grimacing and your dad making a comment about it.
And as a female who spends a lot of time in the company of other women, I can honestly say I don't know a female who doesn't think people can mind read. Men too to a certain degree.
Despite NT's getting touted as superior communicators, I actually think under the surface they're pretty poor at it (just not as bad as us on the spectrum
)
I was going to put a bit in my original post "please don't say it doesn't sound like your parents have traits based on one post, I am not basing it on this one interaction, but decades of experience, this is merely one interaction that I think illustrates it".