Evolution happens imperceptably slowly. (Next point.) Is telepathy or true empathy beyond the realms of possibilty? (Next point. And the biggy!) Is power exchange the first step to empathy?
How would we deal with a partner that could share our every little thought and emotion? Are we mature enough to handle the reverse: sharing theirs? I suspect it's something we will have to deal with as and when it comes. Let's hope we make a better job of it than that portraied in Babylon 5. (Thought Police - shudder!)