What we do do is learn. Learning is a pretty strong capacity for doing old things over and over again, and doing new things for the first time e.g. because we respond sometimes to commands/demands as one of the infinitude of ways of being interdependent. Tuatara don't do this.
And importantly, we can also be taught or develop reflexivity - but some people don't do reflexivity as sure as tuatara don't live by command. Which then makes it difficult to describe the 'mechanism' of social relations as uniquely requiring reflexivity in order to work. As you can see I don't think individual people have a set of ways of thinking, dispositions, or a presumed inner life that ensure for example, that we pay our taxes or the many other interdependent things we do. And surely some of us don't pay our taxes, although that doesn't make us tuatara either.