Joseph states it is more of a skill thing
Ofc if it was really HP, he'd state its nothing more than a feeling
HP being able to read minds might honestly just be the stand reflecting off of Joseph's soul
Perhaps each HP has a special side ability that reflects off of the user's souls. This would explain why DIO's HP is capable of viewing one's own fate rather than being able to read minds.
That's just a theory tho 🧐