I have two autistic boys and mixed feelings on this.
I tend to hope other people will accommodate but treat the children like they wont.
So I constantly correct behaviour that impacts on others (pushing past other children, getting in their personal space, obstructing play equipment at the park). I also explain to adults that they are autistic and to children a more age appropriate version of that.
I have found most people try to be kind/helpful even if what they are doing isn't actually helpful but then intent is clearly good!
Where I struggle to balance things is when their behaviour doesn't directly impact on others but can cause a problem anyway. For example at toddler music class my youngest will walk up and down in a set pattern outside the group. He isn't touching or bothering anyone and the instructor understands that he is involved in his own way, he does make it harder though for other parents to insist their own child sits on their lap and stays with them because they can't understand why one child is allowed to be 'naughty'. The other parents have been nothing other than kind as I am open about him being autistic but I am very aware of his behaviour makes it more difficult for them.
On one hand I want to make him sit down because I am aware I am making music group a more of a struggle for every other parent. On the other hand if I made him sit down he would freak out, scream and I would have to take him home so it would essentially mean we wouldn't attend.
Everything is a balancing act but overall I think I need to teach them both to behave appropriately so I have to continue to challenge them in small ways. Start with small queues and short waits and try and build on it.
It is different for every child and every situation though, what works for me wont necessarily work for others and I would be happy to give up my place in a queue so a person with a distressed child could go ahead of me.