Yes, something like that! Maybe put differently, we all interact with people expecting those interactions to go a certain way. When they don't go as we expected

Yes, something like that! Maybe put differently, we all interact with people expecting those interactions to go a certain way. When they don't go as we expected, we often see it as a failing either of the speaker or of the listener; and complicating things, we trade those two roles constantly during any interaction. The "double empathy problem" simply says that the fault doesn't have to be assigned strictly to one party, just as how it's unproductive to blame the intern who deleted the production database by accident. There's a systemic failing that should be understood instead. Complicating matters is that folks with a disability are often pathologized, as the article notes, so it's far more likely that any fault will be assigned to them -- by both parties! (Internalized guilt is a hell of its own.)