You're asking normal (non-autistic) people how does it feel to be normal?
It's fine, I can watch sitcoms and listen to comics and laugh without effort. In fact, sometimes I have to put a lot of effort into stopping laughing.
I can start laughing simply because other people's laugh is contagious.
I can and usually do in practice read people's states effortlessly and accurately from a mile away. I know when strangers are about to ask me something.
Hmmm... I think there's something you are missing about the question.
Autistic people spend a LOT of time "inside their head", to the point where there is apparent structure and separation between things.
I get some vague impressions that it isn't like that for "typical" people: that things just work like 'magic', without needing to observe the structure. That they don't need to probe or dig somewhere for the information about how someone else is feeling, that they wouldn't even know where in their head to look for it if it wasn't just automatically there. That there simply is no apparent structure because they never explore far from where they find themselves.
I have been told that most typical people can't call up a song and put it on "loop" in the back of their heads, or that they aren't even aware of a "back of their head" that can support "playing a song on loop".
I'm trying to figure out in a way whether typical people are as "flat" as they seem.
I'm starting to pick up on the fact that you can't really generalize typical or atypical people. Example, does it make sense to group my MIL who has five children with a level 3, non-verbal, non-functional person with Autism. When you look at it that way, the label 'Autism' is really meaningless altogether. What we're really talking about is extreme variation in brain structure.
Similarly, there are typical people with serious cognitive problems, those problems just haven't been given a label. So maybe the label Typical is just as arbitrary us Autistic. Autism denotes a kind of space of cognitive structure, while Typical people vary just as much in a different way.
Those with the 'perfect' brain are those with a good balance of intelligence / social skills / motivation etc.
You're kind of skirting the question here: that of mental topological awareness and structure.
It's difficult to discuss since it's such an individual thing, but the point in trying to make here is that at least once or twice, I've discussed my mental landscape with "normies" out in the world and gotten slack-jawed incomprehension as an answer.
My experience with many classically typical people is that there's more of an orientation toward 'being social' over 'understanding'. IOW, they're more likely to enjoy and take pleasure from being around people, but they're at least sometimes less likely to bring a level of systems thinking to the table. Many of them are competent speakers, but don't often say much interesting, or know anything beyond a superficial level. I think maybe what it comes down is that they enjoy being social, so they do more of it, and the cycle reinforces itself.
Whereas high functioning autistic people are more likely to be attracted to knowledge and projects, and only socializing when it's interesting to them. Sitting around talking about superficial subjects is boring and hard work when they could be learning instead.
So for typical people it's not extraordinarily different from those who are atypical, except that they derive more pleasure from other people, and that takes precedence over knowing about the world.
And I also think you have to avoid conflating 'enjoys being social' with 'having good social skills'. A lot of people who 'enjoy being social' have terrible social skills and say a lot of dumb shit, while people who don't enjoy being social have very good social skills. It's really just a matter of what the mind is attracted to, and which niche it fits in.