Although I'm pretty good at paying attention to and using all of those things myself to gain meaning from conversations with NTs, I always assume that others on the spectrum may not have these skills.
A reason that NTs misunderstand people on the spectrum is that the NT often thinks that the AS person is conveying something when they aren't trying to at all. For example, a woman I know on the spectrum has a lot of trouble with non-verbal communication and often speaks in a terse tone that could suggest to people that she has a short fuse or is angry. If she is just meeting an NT, I can imagine them taking this personally without realizing she isn't meaning to speak this way.
Also, it's less to do with reading minds, but it's a way to make an educated guess as to what the person is trying to communicate. Sometimes, people will convey one thing with their facial expressions/body language/tone etc. and will be thinking another thing completely. If people could actually read minds, there wouldn't be conflicts in friendships and relationships due to a lack of communcation, as everyone would be understanding...but that is proof that no one can read minds, and that even NTs get mixed up in the nuances of communication sometimes.
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Given a “tentative” diagnosis as a child as I needed services at school for what was later correctly discovered to be a major anxiety disorder.
This misdiagnosis caused me significant stress, which lessened upon finding out the truth about myself from my current and past long-term therapists - that I am an anxious and highly sensitive person but do not have an autism spectrum disorder.
My diagnoses - social anxiety disorder and obsessive-compulsive disorder.
I’m no longer involved with the ASD world.