H is maintaining his behaviour, so maybe it isn't too late for us. I think I come to it as the parent of a child with ASD, and although it is very hard sometimes, and I don't always hold it together, I know that her behaviour towards me comes from a place of anxiety.
The pending assessment (he is half way through) and counselling and me saying I would leave, has meant he is now talking to me more about his anxieties, so he isn't internalising them, or taking them out on me.
I used to think H was proud of his behaviour, saying odd things, etc. But actually it was a coping mechanism, to own the behaviour that he knew wasn't quite right, but not know why.
I'm quite loud and opinionated, often getting overly involved in conversations. I often describe myself as gobby, because I know that's how other people see me and its easier to own that, even though I don't like it about myself.