This is a skill that most of us have to consciously learn, whereas others seem to grasp it instinctively. But like all learned skills, your ability to use it does become better with time.
I believe that I am far less abrupt, and far more "considerate" in my oral interaction than I was as a young person, and the fact that now, unlike then, I have a few stable and meaningful friendships suggests that there is some evidence for that belief.
It will continue to be hard--especially in new situations. But each time it will become easier. It still isn't instinctual for me, but scanning my words for context is now habit, and I am more successful because of it.
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--James