At that point not just aspie failed to listen, but also neurotypical people around failed to protect whoever is victim of that abuse and set proper boundaries.
At the abuse level, improvement should not be dependent at the self reflection of the one doing the abuse.
Persistent small events over time can be abuse.
So it is pretty good analogy. When people both peraon with asperger and working with one having asperger can talk back, reorganize work tasks, move tables, prevent the one having asperger from doing juniors code reviews, torture don't have to happen.
It is when having asperger is treated as license to abuse or sign of "being the one that is more logical/technical and therefore right" when it becomes abuse acceptance. It is the "he has asperger therefore it is ok for him to do it and you have to be subjected to that" that makes it so.
I knew also aspies (two) that did their best to listen and once we adjusted to his communication (e.g. learned to be extremely direct), it was not like that at all.