When people say "getting the nuances of interpersonal communication", they usually mean "Not telling the truth when it may hurt other people's feelings or your own reputation".
It's perfectly reasonable to not not tell the truth —and even lie— in those cases, but I would prefer if you stated this idea like it is.
"Getting the nuances of interpersonal communication" is saying it like one doesn't understand that people don't act rationally and will throw logic completely out of the window when one of their religious ideas gets questioned.
Stallman is not an idiot, he knows he will get shit for saying what he says, he perfectly gets the "nuances" (i.e. irrational behaviour) of personal communication. He just doesn't care about them.