Through latency and adolescents we continue to hone our skills at making agreements. Depending on our circle of friends this can be a rewarding or frustrating experience. For many the lack of attention paid to their wants and needs leads to atrophy. As adults these people can't tell you what they want because they simply don't know. Still others are so swept up in complying to the accepted norms they can't distinguish between a genuine and a pretended need.
Coordination is just as difficult a skill to master.
Like two submarines maneuvering beneath the surface with only the aide of their sonar beams, partners must provide each other with constant feedback in order to avoid a collision. Once again we learn to make these ongoing adjustments by interacting with our caretakers in a manner that either does or does not satisfy our needs. If grandma agrees to rub our back we still have to let her know what kind of back rub we want - a tickle or a rub, hard or soft, over here or up there. While coordination between partners is not as obvious as consensus the absence of coordination is not hard to spot. When it works it looks easy.