I think if we could observe strangers and passersby without interruption or it being socially invasive, we would have as much empathy and affection for them as we have for our partners, family, pets, hell for celebrities we’ve never met.
in fact I suspect that the whole “I love animals, I just can’t stand people,” thing is about this. it’s normal to watch your cat or any cat just being and living for hours on end and the cat will never look at you with fear or disgust and say, “what are you looking at?!”