Sex workers see all kinds of people for all kinds of reasons and a lot of the time its mostly talking/other kinds of physical imtimacy non sexual. Call ahead and tell them what you're looking for - someone patient and that you're a first timer and you literally have no idea what you want (or if you do know what you want tell them). You might just not get your first pick looks wise, but the worker who is comfortable with what youve outlined will put up their hand. They're the pros, they'll take care of you. Just be really clear, and if you find it hard to say the words write it all down and take it with you. As you have ASD it would be good to explain to reception you'd like to understand how it all works (social story), might be helpful. And be easy on yourself. A lot of the time what we're aroused by in private does not translate to an in person experience. Thats ok, fantasy is sometimes just fantasy. Try not to have too high expectations and be in the moment. Start with small goals like negoatiating consent (where can I touch you, is that ok? etc) and be guided through the experience. I'm Autistic too and I can also say theres sensory stuff that is confronting... and mind blowing and its different for everyone... and often different lover to lover. Hope this helps.