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they say we are emotionless or dont have empathy.
is this a cognitive issue or something?
Yes, "they" say that because of a cognitive issue. People who are
not autistic are often
not cognisant of an autistic person's feelings because "they" lack empathy for autistic people! The ridiculous 'robot' or 'Mr. Spock' stereotypes tell us far more about NT people than they do about autistic people, IMHO.
There is so often the implication that it is only the autistic person's recognition of NT emotions that is impaired. NT people might recognise our emotions better, if only they expended as much effort to understand how autistic people express their feelings, as they expect autistic people to expend understanding how they express theirs.
What's the most basic, simple, clichéd rule of compassion? It's a platitude that get wheeled out all the time. We're told that we should ask ourselves...
"What would I want if it was me?"Neurotypical and autistic people just don't always get the same answer! When the answer is wrong, the resulting action is liable to be seen as uncaring or heartless by the other person, even if there is a genuine intention to be compassionate.
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When you are fighting an invisible monster, first throw a bucket of paint over it.