Interesting thread.
It's a subject that's very personal to a lot of people and as a result can get quite heated.
Autism presents in my family and I also work on occasion with young people who are diagnosed.
My first thought is that how autism presents is unique to the individual, so I'm personally wary of generalising approaches. Parenting a young g person who is non verbal with very heightened sensory issues is very different to a child who does well academically but struggles socially and finds some food textures problematic for example.
This is also further complicated by potential additional diagnoses and also the age and circumstances the individual is dealing with.
I do as an overarching view feel that maintaining boundaries with reasonable adjustments (for the individual) is a good approach.
However, there may be periods where due to external stressors those boundaries need to flex - sometimes to a considerable degree.
It can be hellish trying to find a family balance within all this, especially when multiple family members may experience different autistic presentations and their stressors happen in response to different triggers at different times and I think a bit of understanding of this would go a long way.
That said, I do think is dangerous to adopt a presupposition that accommodating all behaviours at all times is beneficial for the person and the wider family.