"people pleasing" can be a response to trauma, but if you care about somebody, you probably don't want to make them unhappy. I don't think it is only and autistic "thing", but a trauma response (see "fawning" behavior pattern) and also maybe human nature. Compromise is good, but sometimes we let ourselves get pushed into agreeing with things that are bad for us one way or another. I got counseling to learn how to say NO and to set boundaries. If I could learn that, I think almost anybody could. It is a tool you can use in ever day life, but I had to be taught how to do it, and to see that I could choose to do other things besides saying "yes, or OK" in any situation. It takes practice, but now I know how to say no and how to set boundaries and enforce them, my life has been easier and better.