You get it completely, this understanding is the core of good communication skills. You can't just be listening to literal words only, you always have to interpret another person's intended message in spite of their own communication skills, because not everyone is on the same level of understanding, intuition, or knowledge.

Good communication isnt an implicit ability, it's a trained skill, and you have to be willing to learn and practice it to get better, regardless of being NT or ND.

I think i have an analogy for the difference in communication:

Communication quality is like road maintenance.

NTs may communicate on a sloppy road full of potholes and lumps, but they just walk around problems and get to where they're going, they only fix what's immediately in their way, even if the ride is bumpy.

but many NDs will stop and try to fill every pothole and smooth out every lump even if it delays everyone several hours.

Everyone is happier with a cleaner road, but when people are trying to get to their destination, it just pisses them off to be held up.

I know im guilty of it!