Boredom vs Anxiety

Hi everyone, I am Mum to a 16 yr old Autistic Son and 14 yr old Autistic Daughter. Despite my Son being classed as high functioning, he has really struggled all his life.
He has been completely out of education for 4 years due to anxiety, was placed in a school with not enough support and everyone who has ever been involved with him have failed to understand him or help him.

He used to love trains and go out most weeks to different train stations. He used to love programming and playing Kerbal space programme. He is very intelligent and loves reading online about history and geography and has been a Minecraft fan for 10 years.

The problem is that since Covid he will no longer leave the house and has real issues being near people and doesn’t trust anyone (had a terrible experience with social services). He doesn’t like hardly anything now and is regularly saying he is bored and becoming angry and frustrated. I have suggested so many things to try, both at home and to try and get him out of the house but he just comes up with an excuse, gets angry or says no. He was crying last night and I hate seeing him like this. I just want to help him but there is no one to turn to. He has no friends at all and won’t engage with anyone who he doesn’t know. What can I do to help him?