I suppose the way people make eye contact with each other as humans depends on context. It is normal for humans to look at other humans to ''check them out'' (not in a sexual way). Looking at people is normal, and when people sit down they do look at what's going on around them, which includes observing people. I've even had NTs tell me that they like to sit by a window in restaurants because they enjoy looking out at the people coming and going.
Staring seems to be common in NTs when it comes to having a problem with somebody, because I have got, and still get, plenty of stares, and so I suppose they have a problem with me for some reason or other, maybe I'm nervous in my body language or something, because I don't do anything else that's out of the ordinary (although I didn't think looking a bit anxious is that big of a deal, as social anxiety is very common, that's what I have read on many anxiety websites). And no, I don't stare at people, but I can usually feel when I'm being stared at, and when I glance up to see if they are staring I am usually right.
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Female