Even in the sensorimotor stage (1-2) children realize they are separate beings from the people and objects around them, but as they go from two to three they move into the preoperational stage of development they begin to see the perspective of others. I don't know about every kid, but my own child cried a lot because the other kids spoke Korean and he only knew English. He couldn't explain the problem to me until a couple years later. I just thought he was scared to be away from his parents. He knew he was different and the people around him were different before the age of three.
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