The term “egocentric” has nothing to do with Freud or selfishness. It’s a geometric term meaning that part of the self is the center of the spatial coordinate frame (“ego” = self). The contrasting term, “allocentric” means something other than the self is the center of the coordinate frame (“allo”= other). A comparison has helped me: think of geocentric and heliocentric models of the solar system.
The question I’m going to address is whether our brains, our perception of the world, our behavior, and our consciousness operate in egocentric or allocentric coordinate frames.