Yes, social skills can be learned, as can (some degree of) empathy.
Three ways (for me)-
Imitation of a person with good social skills (6th grade classmate who was the only person who was truly nice amongst bullies- imitated her in a way)
Learning when people gently told me what annoying/ rude etc things I was doing
Learning when people yelled at me for doing things that were annoying
Now people (coworkers) tell me things like, "I just did your eval. I put all good stuff on there. You've come a long way." Or, less obliquely, "You don't stomp your foot anymore when you get upset." It's been a long process.
I was just thinking, if I was trying to get somewhere and someone was in my way, I used to just say, "Move." Not really knowing (or caring?) that that is considered rude. I sometimes still think "Move!" and then think, wow, I used to be so blunt, rude, and efficient! Is that maturation, learning, or am I not being authentic to my essential autistic nature? What is better?
Another thought- I have previously posted this- I have been "coaching" my husband for ten (almost eleven!) years on eye contact and being diplomatic. Is this wrong? Now I feel like I have been, not helping him fit in better with NT's, but....doing something wrong, like kids who are really left-handed being forced to do right-handed things. Neither is better than the other, but that is like a crime against the brain's wiring!! !
Sorry for the rant, Tim, but thanks for starting this thread so I could think through this.