Similarly, I was in my 40s when I realised I was ND. Up to then, I really struggled. Couldn't make friends, couldn't speak in groups. Probably also partially towards ADHD as although I wasn't in any form disruptive at school, I could never concentrate and my mind was always doing several things at once, couldn't sit and do homework etc. My "issues" with other people meant a very lonely existence for my first few decades as I know I appeared and acted to be very stand-off-ish and generally weird - I knew that's how I appeared to others, but couldn't change how I acted.
It was in my 40's when I started reading about ADHD and ND etc - never really knew it was "a thing" until then. Suddenly things clicked into place. I don't think I'd ever be formally diagnosed with either, but it's a "range/spectrum" and I'd definitely fall towards the lesser end of the range. What it did was shine a light on how I behaved and acted. Didn't change things as I am what I am. But I stopped "pretending" and struggling to be the same as everyone around me. It was a weight off my shoulders. After really getting anxious and stressed about going to social events, work group events, parties, etc., and never enjoying them, I just accepted it was how I was, so stopped trying to "fit in" and slowly became more comfortable in myself, restricted the events, left early etc - much better.
As for work, it was a real light bulb moment. It coincided with the dawn of the internet, email, websites, etc around 2000, so rather than continuing to work for other firms and struggling with the office environment, having no choice as to the work/clients I had to deal with, I gave it up and went self employed, where I chose my own preferred kind of clients, type of work, and more importantly "method" of work. I set it up, not based on social networking of local business groups (something I hated) but as an online service business via online software, email, phone, etc. Turns out there was a demand, many being like minded people who didn't want to have to have meetings or meet potential service providers in networking groups etc. So for the past 20 years, whilst I've had hundreds of clients, I've actually met only a couple of dozen in person, for particular reasons. Massive weight off my mind and reduced stress/anxiety not having to worry about routine client meetings requiring small talk etc - now if a meeting is needed, there's a good reason for the meeting, so we can jump straight in to the subject matter, which is my strength.
You can't (and shouldn't try) to put a round peg in a square hole.
We need to find ways to help ADHD/ND sufferers live/work a normal life - many will be able to do so once the veneer of the "extraverted"/social aspects of life/work are stripped away/