I have not verified that all these words actually exist. However, they should
Via So Bad, So Good:
Arigata-meiwaku (Japanese): An act someone does for you that you didn’t want to have them do and tried to avoid having them do, but they went ahead anyway, determined to do you a favor, and then things went wrong and caused you a lot of trouble, yet in the end social conventions required you to express gratitude
Desenrascanço (Portuguese): “to disentangle” yourself out of a bad situation (To MacGyver it)
Nunchi (Korean): the subtle art of listening and gauging another’s mood. In Western culture, nunchi could be described as the concept of emotional intelligence. Knowing what to say or do, or what not to say or do, in a given situation. A socially clumsy person can be described as ‘nunchi eoptta’, meaning “absent of nunchi”
Pena ajena (Mexican Spanish): The embarrassment you feel watching someone else’s humiliation
I wonder if there's a technical term for such words?
Go read the whole list, and maybe work a few into your vocabulary