Another dimension to the empathy issue is that there are different forms of empathy.
So some autistic people may not feel it automatically, the way others do, but if you explain "this happened, and it made me feel that way", they'll understand. Sometimes very easily, which makes it a fairly easy adaptation to make once you know about it, provided you don't need spontaneous empathy.
The hyperempathic overwhelm thing - which it doesn't sound like OP's daughter has, but I wouldn't rule anything out - is also something that can be worked with once it's known about.
I've known autistic people - I'm related to a couple - who are abusive due to lashing out when they feel another person's pain. Because they get the full force of the pain but feel powerless to do anything about it.
However else I feel about these people, I do recognise that they've been badly let down by the failure of anyone to recognise that they needed guidance on how to respond appropriately.
These days, thankfully, there's a bit more of a chance of catching people who might develop this problem earlier. And helping them work with their empathy, develop coping mechanisms for high-stress situations, and insist on others working with their needs too, rather than expecting them to just "know" what to do and somehow choose to be "normal".
I'm a highly demonstrative autistic, and can't cope with the company of autistic people who are uncomfortable with expression of emotion. Similarly, I'm highly touch-seeking, and for that reason struggle to spend much time with autistic people who happen to be averse to touch. I don't feel badly towards either group, we're just not best placed to be close friends, that's all.
Because of my experience of that, I want to say that it's ok for you to have emotional needs that conflict with your daughters sensory/emotional/cognitive/whatever needs. That's part of the risk of having children, whether autistic or not. Sometimes they simply aren't so compatible as individuals, and provided they're loved, respected, and treated as an equal to any more compatible family members, it's fine.
If she does turn out to have an aversion to touch or to displays of emotion, and that upsets you (as it would me, a lot), don't feel bad for feeling bad. As long as you're treating her right - and there's no reason to think you won't; you seem very thoughtful - you're allowed your feelings about a chance mismatch between the two of you.