"Have you eaten today?""I had a hot pocket and some mints.""GO. EAT.""I will.""Do it now."
It's not perfect. There are plenty of times when we clash and misunderstandings happen and the different ways we see the world and experience and communicate can result in tangled wires and hurt feelings. But we work hard to untangle them and we understand each other in a way that neurotypicals tend to miss the mark on.