@sirgalahad and @colleenyoung , good evening! I was looking through my pictures and found this larger version of the picture used on my profile. I wish to use it in a roundabout way to describe some elements of communication.
Every person behind me is a cousin of mine, either through marriage, or as biological cousins. Two of them are by marriage. Two are cousins, either first or first cousins once removed. Spectrum sensitivities seem to have a bit of a genetic component. That might be debatable to some, but I have my opinion on that.

Because my cousins through "blood" tend to speak my language (Spectrum) we usually are on the same page with one another. We basically understand what the other one is saying. Even if we have just met face to face for the very first time.
My cousins by marriage, lovely folks, are Neurotypical, as in, not on the Autism Spectrum. We do not speak " typical. " They do speak "typical." Aspies or Auties, whatever I choose to call myself, we have a difficult time with "typical" language. Neurotypical language is full of nuances and other subtleties that a concrete thinker finds confusing. That is again, one reason why it is so hard for Auties to understand jokes. Jokes leave me flat.
I can only describe communication between these two "tribes" of people, as attempting to speak French with a Frenchman, after you have lived through forty plus years past your High School French classes. Not impossible, but difficult. The more the Autie has learned to practice "masking" the easier it will be for him/her/ them to understand the Neurotypical's language. Masking is what Auties have learned to do to survive in the workplace. The more an Autie "masks" the more they must unwind and destress. Because this takes tremendous amounts of energy. It is extremely tiresome to do this every day.

We have an old friend with a super high IQ who works for the Space Program in Huntsville ,Alabama. I suspect he is an Autie, much like Einstein was thought to be. Absolutely brilliant. He would show up at work frequently with his comfy houseshoes instead of regular work shoes. His mind was so full of ideas swirling around inside, he would absentmindedly put on what made him the most comfortable.

Not all of us are geniuses. Many of us are in the Talented and Gifted programs in school. Lots of us are in the Arts and Drama.
Tons of us are Engineers of all kinds. We are all different, yet we are all the same. We do not mean any harm. We are gentle, often super empathetic and empathic souls. We would not disobey the rules or hurt your feelings for anything in the world. The thing is, we need a guide to the Neurotypical Community. Maybe they will come up with a Neurotypical for Dummies book. I hope this has made some sense. We all have a place at the table, as @gingerw and I are won't to say now and then. See you, love you, bye!