I used to write a lot of comments and I don't much anymore.
Usually a long comment is a smell. If the way something works isn't obvious and must be explained, it can probably be better designed.
Code changes and then comments have to be updated, and often aren't. If they aren't just wrong, the context is often so changed that they aren't useful. You wind up reading the legacy code anyway, and you and the author both wasted time with comments.
My team is smart and competent. I need them to read the code to make sure their changes are safe, anyway. They do not need their hands held. They don't need me to waste time writing comments that will soon be outdated, or that explain something I should have designed better.
Finally, management doesn't apply an OKR to intangible code metrics like internal documentation. Should they? I don't know, but it's their code, not mine, so I'll write it to the standard they apply.
These are the reasons you have to work in code that is poorly documented. It has nothing to do with a lack of empathy -- if I were to allow my employer to extract extra value from me by using my empathy for my teammates as a lever that would be exploitation. If I spend more time on documentation -- which the employer doesn't value -- instead of functionality, I'll be punished at review time for wasting time on worthless things.
Maybe you should stop letting your company manipulate you into doing more work than they're paying for. If they value internal documentation, they'll create an OKR or KPI or whatever to make sure you're paid to do it. Otherwise it's unpaid labor for a for profit corporation. I'm not doing that. Are you?