I think they should be making allowances for her if they are aware that this is a coping mechanism but think ywbu to expect them to be reminding her to stay on task.
College is not like school, its not mandatory and the students are responsible for their own learning and expected to do a certain degree of self management.
They are not teachers teaching children entitled to be educated in the national curriculum.
The students are adults who are there to gain a qualification. If she is struggling with something or needs adjustments to be made then she will find she needs to speak up and ask.
It's a very different environment from school. I recall my friend at college who had what was then called Aspergers syndrome struggling with the unstructured nature of college.
Basically we came in, had a lecture and then were left to complete our days work for the current module to the standard we were aiming for (pass, merit, distinction) once this was completed we could just go.
He hated this, couldn't regulate his own workload and time and we urged him to speak to our tutor who sat there through his own lunch break drawing up a timetable for my friend to split the day into blocks of time and writing out what he needed to achieve by what time, lunch break etc.
Ultimately they want to support your daughter to succeed but she is going to have to get used to being treated like an adult now whose education is her own responsibility and her say is what counts. It's what she says now that counts, what she wants. Tell her to talk to the tutor, explain her difficulties and what she needs to help her achieve her goals. They may not even be aware of her autism if she hasn't told them, it's not like school where they have an education plan
Explain that she has difficulty concentrating and when she is colouring she is actively listening and processing what is being said. Once the tutor understands what is actually happening, I'd be very surprised if she has a problem with it. She probably just thinks your dd is goofing off and being rude. Learning to self advocate and ask for what you need is never a bad thing.