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Temple Grandin thinks so. She wrote an interesting book called "Animals in Translation" you might want to check out. My hunch is that the sensory sensitivities also have something to do with the phenomenon of people on the spectrum that are really good with animals. It works for me since I'm studying to be an ethologist!
True, I've noticed that I could read an animals mind in a way, back when I used to have a dog, I would know why she would come up to me for either cuddles, walk, attention, and of course, the toilet.
I could also tell when they are angry or when they are really happy and its almost the same with cats.