From my experience, it can definitely be learned. I went through a very deliberate process of approaching social interaction and communication skills as I would an interesting programming problem. I refined a mental model and tested it out (yes, with occasionally hilarious misfires). Thankfully none of the failures went beyond 'highly embarassing'.

It felt like most people have a social automatic pilot while I was flying entirely manually. Once I developed some models and internalised them it was as if I'd built my own approximation. It still takes a little effort to keep things level, but much less than it used to.