Questions about Communication: Clear, Direct, and Honest?

so the tl;Dr is that they don't try because they wanna be a hypocrite and expect us to talk the same way that they do because it's easier on them.

Oh! I got this! Sorta... So the model of communication I was taught essentially goes like this. Speaker ➡ what they thought ➡ what they said ➡ environmental stimuli ➡ what you heard ➡ what you comprehended ➡ You. This is how neurotypicals communicate. The environmental stimuli could be anything from body language to tone to even loud noises in the world that makes it hard to hear properly. This tends to differ from how neurodivergent people communicate as we are less likely to understand tone and body language in the way it was intended. There is a whole second and sometimes third language that is happening as subtext for the spoken language, and being able to read people doesn't necessarily rectify the miscommunication. For instance, I'm good at telling when people are mad, but because of my trauma, I assume it's my fault even when I have no reason to feel this way. Additionally, NTs are reading our body language and tone--two things that we don't control as much because we see them as unrelated--and cannot comprehend that we mean exactly what we're saying. Tl;dr, it's an annoying something that we have to learn to communicate in their language because we *know* that, as a whole, they won't try to learn ours.