fwiw, two books helped me massively in this area:
1. The Field Guide to Human Error. This book I read on a whim just because I thought it would be useful for software development. The first few chapter's ended up being kind of life altering. It felt like along personal attack on my character. In short, it was about perspectives we take when dealing with other people, and how viewing from our vantage point is not only frequently wrong, but it's lazy.
Even with things like CR comments. I now ask myself "_why_ do they think that's the right approach?"
2. Never Split the Difference. While it's about negotiations, it deals a lot with how humans think, and despite what we tell ourselves or want to believe about we being rational creatures, emotion dominates almost all interactions. It gives all kinds of useful advice for framing conversations and using language which avoids being confrontational or accusatory.
This was another huge one for me, as it shifted just about all of my conversations from starting with "you're dumb and here's why" to "let's make sure we agree on what the problem is" and then making finding the solution a collaborative effort, rather than a top down directive.