From the beginning, there has been a tension in the reception of the Kantian idea of autonomy. If you emphasize the 'nomos' (the law), then you get one picture: the objectivity of ethics. If you emphasize the 'autos' - the self - you get the idea that we make the law. Kant never hesitated in his choice between the two emphases. He emphasizes the nomos (the universal and objective validity of the law).
Men always want to be terribly influential, but I see that as somewhat external. Do I imagine myself being influential? No. I want to understand. And if others understand--in the same sense that I have understood--that gives me a sense of satisfaction, like feeling at home.