Catski, I've been thinking how to word this, because I want to give you hope rather than a whole new challenge, but please beware of the "it's only mild" stuff.
What people often mean is "hey, they're intelligent and can seem like they're coping - that'll do". It's why most adults with an ASD are in a hell of a state - because people insist on seeing our attempts to cope as evidence that it's only 'mild'.
The sensory stuff, the complete puzzle of being able to work out what people mean when we can't 'see' 90% of their communication (body language, tone of voice, facial expressions), these aren't mild things. They leave us immensely vulnerable, very exhausted, they stop us accessing things you take absolutely for granted. Neither are the problems with balance and fine motor skills, or the challenge of having a brain that wants to work in a very different way (in my case, in pictures, not in words). What they often mean is "hey, these people learn to overcome all of this, as far as we can see". Yes, we do learn to disguise it, but it doesn't go. And neither are people fooled by it, to be honest. The bullies can spot us a mile off.
What changes is the sort of help we need. To achieve our best, we need courses adapted to our brain's way of thinking. We need environments that aren't a sensory nightmare. We need to cope with people one at a time, not all at once. We need to specialise. We need people to be aware that yes, we can look at you and learn enough phrases to make it look like we're listening to you at the same time but actually no we can't do both. It's mimicking your behaviour, not learning it, if you see the difference. It's how I run my life, and it works well enough that I'm married with a child, a lot of friends, a business, and manage the work I do for schools, charities, churches etc. But it's a very different way of being, cleverly disguised, and very tiring if it goes wrong.
What really helps is people respecting us for what we are, rather than trying to make us into exact copies of everyone else. Harmful behaviour certainly needs to be helped. Social skills needs to be learned as best as we can. But otherwise it's like trying to make a cat into a dog. We're not necessarily a broken dog, we're a cat.
If you work out what really needs to change, and what can actually just be done differently, it'll help both of you.