Earlier quoted context omitted.
You _can_ get a fairly accurate sense of how people are feeling or what they are thinking, and some people are better at this than others. Call it intuition, body language, or whatever else, it doesn't inherently make it arrogance. Being mindful of how you could be incorrect in what, at the end of the day, are assumptions that require confirmation, is important; without this is where the true arrogance lies.
I think assuming how people feel and what people are thinking without asking them, giving them agency, is nearly the very pinnacle of arrogance. further, this can be some of the most damaging behavior you participate in on a daily basis, both to you and to the person you do it to. I cannot overstate how toxic to your relationships and to yourself this behavior is. You need to let people express themselves, and listen…
No one is saying that they are making assumptions for others or not allowing them to express themselves. But if you deny that you are prejudiced, you're going to end up imposing your own will on others because you continue to suffer from your predisposition without being cognizant of how that affects them.