> But supposedly neurotypical people demonstrate what seems to me like a stunning lack of empathy (or more generally, ability to comprehend other worldviews) all the time.

IME religion facilities this phenomenon. In-group members (esp men) get forgiveness and freedom from consequences (perhaps conditioned on saying magic words). Whilst out-groups get "forgiveness" with extra consequences.

Do you mean Christianity? Islam is full of consequences for members - it has a system of laws and punishments. It has forgiveness too but some crimes are unforgiveable even by God. Meanwhile, out-groups are more like enemies that sometimes should be killed if they don't cooperate.