It isn't just the problems he can and does connect with, it's all people in all situations. He moves beyond sympathy--feelings for other people--to empathy--sharing the feelings of others. It's more than that, though: he sees his empathy and the bounds of his own experience as virtually limitless, going into the very heavens, "Speeding through space, speeding through heaven and the stars, / Speeding amid the seven satellites and the broad ring, and the diameter of eighty thousand miles, / Speeding with tail’d meteors, throwing fire-balls like the rest." 

His overall message goes back to "What I guess’d when I loaf’d on the grass." That is: 

Stop this day and night with me and you shall possess the origin of all poems,

You shall possess the good of the earth and sun, (there are millions of suns left,)

You shall no longer take things at second or third hand, nor look through the eyes of the dead, nor feed on the spectres in books,

You shall not look through my eyes either, nor take things from me,

You shall listen to all sides and filter them from your self. (II)