Having grown up in a family where I am sure my dad was on the spectrum & then married someone who was, I think that what you described is an Autistic thing because it was something I too never experienced until I moved away from that environment. There may also be other causes since there are so many things with similar conditions.
I seriously had to learn what real relationships were like after leaving. Inside I always felt there was more to connecting with people than I ever experienced being around....but couldn't experience it until I was around those who were able to connect & it was a learning process for me