We can and do learn, we just learn in different ways and have to learn things that come naturally to most other people.
At least, I've *heard* that such things come naturally to to other people. Many NTs have really awful social skills and are rude, arrogant, ignorant and cruel, except it's usually on purpose, or if it's pointed out to them they think *you're being rude*. or their ego suffers and they mumble some excuse, like they're just having a bad day.
If there's one thing I can't seem to learn, however, it's to stop saying things that offend people because my words are blunt or shocking, usually because when I try talking calmly and rationally to them they don't listen at ALL. Then I get in trouble or get banned temporarily form "certain" websites.