The two go hand in hand. They're both attributes of a person that has developed a healthy theory of mind. I think it's best to be able to experience both empathy and compassion, to resonate with another's emotional state as well as be able to take appropriate actions. The resonance instills camaraderie in each. Theory of mind is definitely an interesting subject.
From my view, I do not need to feel comraderie in order to help someone in need. I will lend a hand to my worst enemy with which I share zero values if I think they require assistance. The issues in this world is that people are only willing to help their own 'kind' and that kind is becoming increasingly narrow through fragmentation and identity politics.