The aim of the paper is to deepen into a theoretical account on the role of behavioral settings and relational affordative space and how this perspective can be used to reconceptualize various human cognitive developmental trajectories and conditions. In the course of this theoretical work, we want to contribute in rethinking developmental trajectories based on the role of behavioral settings and relational affordances from an embodied perspective. Behavioral settings emerge from joint actions in conjunction with the affordances available. These affordances (...) will have multiple levels and kinds of meanings for the organism which is why we need to distinguish between the general affordances for a form of life and the particular affordances for particular agents that are generated through sensorimotor interactions. We propose to apply this theoretical frame in different developmental conditions, taking as a leading example the Autistic Spectrum, extending it to other lived experiences of other groups marginalized by “normative behavioral settings” – and the ensuing ethical concerns. (shrink)