Over the last century, psychoanalysis has suggested that one surprising difference between NT and Autistic is how they mature due to a difference in language and a different Salience Network (Sensory-Perception). A thought about this which can better help is that Autistics being Hyper-Sensory can be more concerned with environment while Typical kids are more concerned with Social. There is nothing wrong with this, as we need both in healthy and safe society. We cannot be everything to everyone: focus on our potential, be ok with and mindful abut limits, no one wants to feel like a failure.
This is a good article explaining that more often than not, we as parents might just lack some absent insight into reconnecting with what it was like to be very small.