I don't know if this has been mentioned, I read most of the thread but I need to go make the tea now.
I work in community adult education for a local authority, as part of our adult learning offer we do courses for people referred by social prescribers. These are copies of classes available to everyone but we make these smaller and provide additional learner support.
These classes include art for wellbeing, crafts for wellbeing, mindfulness and meditation, steps towards emotional resilience, cooking for health& wellbeing etc.
I often have autistic people referred as community learning aids confidence and well-being and it's a step towards other goals (accredited learning, volunteering, work, just doing more daily care for themselves/accessing community spaces).
I'd suggest you look at your local councils website for adult learning and Al your gp surgery if they have a social prescriber or health and well-being coach. Often, you don't need referred from your gp and can make a direct appointment
Social prescribers assist you in using correct local authority, community and voluntary services in your area. In our area, they will attend new places with you, such as first appointments or drop in groups.
It would be a great way to improve your self esteem and let you see what you can achieve. Be positive, don't compare yourself to others-your best is enough