He just doesn't listen
As NT parents we can be awful for using inference without realising because we're so used to it and we understand what it means and expect everyone else to. Thing is, our dc with ASD don't. Try and be a lot more literal in your communication. I've had a lot of years of practise and still don't get it right all the time.
I'll still say something to adult DD who has ASD like 'The worksurface could do with a wipe' then when I look again I see she's not done it, but really, thinking about my wording, it wasn't a request, was it, it was a statement. 'Dd, please could you wipe the worksurface now' is what I should have said if I wanted her to do it.
Break your instructions down into very small steps.
'Put the toys away' maybe doesn't give him enough information.
You haven't said you want him specifically to do it, or where to put them apart from "away" or when you want the putting away done. He's not not-listening to you, he's not understood you want him to do something.
'Can you put the toys away?' literally means are you able to put the toys away as a concept, it's not literally an action you want him to do.
Something more direct like getting his attention by using his name, wait until you know he's listening, then short instructions, 'Freddie, [pause] put the toy cars in the red box now. Then praise when he's done that, then 'Freddie [pause] put the lego in the yellow box now.' praise when he does it.
For an NT child, the narrative would be something like 'Oh come on look at the mess, it'll be bedtime soon and we need to clear up, let's get started'
Freddie could seriously struggle trying to sort out the meaning of that long winded sentence and understand the intended action, there are just too many unnecessary words for him to filter out, if he can and there's no specific instruction for him to do anything.
It's not something you can do overnight, but thinking about exactly how you communicate with your child can help a lot.