Causing disruption or annoyance through being unwelcome or uninvited; tending to intrude on others' privacy or personal space.
From Latin 'intrusus', past participle of 'intrudere' meaning 'to thrust in', from 'in-' (into) + 'trudere' (to thrust). The sense of unwelcome entry developed in the 17th century.
In geology, 'intrusive rocks' are formed when magma forces its way into existing rock and cools underground, giving us a perfect metaphor for how intrusive behavior works - it pushes into spaces where it doesn't belong and hardens relationships in unwanted ways.
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