Our vulnerability is what makes connections, or sharing the vulnerability. The talking and listening skills. Basically, we learn to identify our own feelings and express them, to allow others to express their feelings by listening in a compassionate and empathic way. I think a lot of people have great difficulty. I discovered this very early as a therapist.
People have difficulty with a vocabulary for feelings.
We have a lot of vocabulary that is descriptive, a lot of thinking and understanding, but to identify what we feel is a skill that very few of us have. We need to learn. One of my first experiences when I was in psychotherapy was, as an overachieving person, I would tend to work harder if someone didn't like what I was doing, or expressed disapproval. That's a technique for getting people to work hard, and not be very happy. We have bosses, and maybe have done this yourself by doing it all the time.