Welcome to Wordy Wednesday!
This video explains this aspect of Asperger's much better than I can.
Zak certainly displays some difficulties with this, but not as intensely in some areas as in others. he is very capable of being empathetic. Many times spontaneously, especially in regard to animals. Other times he needs to be reminded or have someone's feelings or reaction explained. When helped to reason through a situation, he makes empathetic choices with ease. But it will take continued practice before he regularly does this without assistance or prompting.