Decentralized linguistic consensus (how do we agree on vocabulary, ontology, etc) and decentralized political consensus (how do we agree on rules of behaviour) are two very different things, achieved using two very different consensus mechanisms.

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I wonder if a condition like autism is actually the failure of one or both of these consensus mechanisms on an individual level.

I think that could very well be the case. Many psychiatric conditions could be due to various different types of failures. In the case of (some types of) autism, it would be a failure to appreciate / understand / implement the consensus mechanism for political consensus. Which can potentially turn into a superpower, bc the political consensus mechanism is to sacrifice some aspect of one’s own cognitive abilities as demonstration of loyalty to the tribe.