Most people would find it annoying to have someone come and talk to them at their desk for a long time and so the coworker's intentions are same
Consider the statement "My coworker is always coming over to my desk and talking for long periods of time.". Is the statement "Ofcourse my delightful coworker doesn't plan to annoy me at all, except for the fact that she is always coming to talk to me at my desk for an extended period of time." false? Yes/no/unknown