I suppose that like many people, you assume man is moral, rather than amoral – merely choosing between the moral and immoral as incentives provide.
We can in fact read others intentions and incentives. We could not cooperate on means or ends otherwise.
However history says that such reading of intentions and incentives creates moral behavior, and trains moral intuition – not that moral behavior is intuitive. It’s not. Only reading of intentions and incentives.
As anyone who has raised young children finds rather obvious.