Counselling can't change someone's personality. Especially when they don't want to change. So no, it won't work.
How do you know you're not easy to live with? Is that what he tells you? Its highly unlikely to be true. You're currently putting up with a lot of crap. A "difficult" person wouldn't be doing that. They'd be having an epic tantrum.
Your husband is an arse. ASD is irrelevant. That would be a separate issue.
It's not ok that you had no maternity leave. There are two opinions in a marriage and it sounds like your true opinion (as opposed to the opinion he wants you to have, which you've convinced yourself "isn't that bad") wasn't considered.
Even if you weren't working at all he should still share house chores and childcare, otherwise you're 24/7 on duty with no time off and no retirement. Which isn't reasonable. The fact he works more hours or brings in more money doesn't make him more important than you.
He's telling you who he is (leave me alone or fuck off for good). You need to listen. And realise you can't change someone else or their behaviour.
IMO by the time someone start thinking about relationship counselling it's already doomed. Decent people who don't treat others like shit don't need relationship counselling because they're able to talk to each other and either sort out their differences coming to some kind of mutually agreeable compromise, or at least one of them can see that splitting up is the only way because they want different things. I honestly think it's only people on the receiving end of some useless wankers behaviour wo think about relationship counselling. The useless wankers themselves never want to instigate it. And people who aren't useless wankers, and are not in the receiving end of a useless wankers, don't need it. So if you go for counselling, go for yourself with a view to straighten out what constitutes reasonable behaviour and what doesn't, in your own mind. Rather than a counselor where the focus is on staying married. How to stay married isn't the question you should be asking. You should be asking why you'd want to, when this is who you're married to. Counselling can change you and you can fix the faults in yourself that are keeping you putting up with this disrespectful unreasonable behaviour from him.