All you actually have to do is to figure out what other people need, and then give it to them:
Then figure out what you need, and communicate that.
The difficult part is distilling complex scenarios into the relevant need categories.
Requires: (i) self-awareness (ii) assertiveness (iii) ability to resist being manipulated, or inadvertently manipulating others.
Relationships feel less intimidating when you know there is a five tier pyramid you can refer to when stuck