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I have high-functioning autism and a child on the spectrum. Parenting is difficult enough without adding in extra complications. However, the fact that you have an understanding of your shortcomings and are working to remedy them puts you ahead of many parents already.
It sounds like you are both going to need to work on interactions. That’s OK, you may just need some extra help and patience. Parenting is a learning process for both the parent and the child.
Here’s something that has worked for me and my son. We would take walks outside in different natural surroundings and point out things we find. If I found a mushroom I would point it out and talk about it. If he found an insect he would get excited and show it to me. A very low pressure environment that gets people talking and learning.
I would also be honest with his therapists about your autism. You may benefit from joint sessions with him and sessions alone with your own therapist. It is important to find the right therapists who are willing to help both of you without judgment. If one is not working out, don’t be afraid to move to another.
Can confirm that it does not taste good!