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Your point " Other people are mere objects that only exist in order to service the infant's needs"
Babies don't demand to be taken care of right away. That's an adult's perception. A baby merely responds to their own body's stimulus. Hunger, cry. When they reach the age of knowing someone will respond and they can demand, they also start having some sense in other areas of their life, of right and wrong. Such as "not okay to grab mommy's glasses."
The baby doesn't seen others as objects to serve them. They "hope" their need will get met. They also see others as fascinating, and try to connect with them, non-verbally, in a way that's not needs based but is connecting-based.
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