Ds1 has ASD, always had sensory issues (re smells etc) and a tendency towards OCD re contamination/health. The potential for OCD was mentioned when he was diagnosed (age 8) and he was eventually diagnosed with it in secondary school.
We have always had dogs, three when he was little, then two, now just the one elderly lad. He pretty much ignored them all, until we got a new rescue when he was 11 and from then on the dogs became an important part of his day. He would come in from school and sit quietly with them for an hour, sometimes two, decompressing, before he was ready to interact with the family. This benefitted his mental health significantly.
His OCD eventually reached serious levels, crisis teams were involved and he was almost hospitalised. He’s now nearly 19, has been through a lot of therapy, is medicated and doing so much better. He can stroke the dog and then go and wash his hands, but he won’t touch the dog bed or blankets and is the only member of the family not actively involved in his care, as he can’t touch the dog food, bowls, give treats, etc. He does love to go on walks with us (although he doesn’t hold the lead or pick up after him, obviously). He absolutely adores him though and will still sit by his bed quietly for ages. He was devastated when we lost our other dogs last year and currently very anxious, as our old boy is not doing very well at the moment and he can’t bear the thought of losing him as well.
Essentially he has found his own way with them, that he was comfortable with. We haven’t put pressure on him to do anything that he didn’t feel able to. We wanted him to enjoy their relationship and not feel challenged by it, as their company is so beneficial for him.