The spectrum isn't only for auties, there's the friend spectrum as well.
Some friends are just to hang out with, go to show/bar whatever but you don't trust them enough to open up to
Some friends (very few) are closer, you know alot about each other, have history together, have deep talks
Some friends are co-workers you just see at work/school and have professional relationship with but also like them - potentionally to get to know better outside the work place
etc.etc.
Sometimes one will see another as a friend but not vice versa, as you said exactly. Personally I'm no friends with people who don't see me as theirs, but remember not all relationships are mutual, not everybody gets along.