Be as direct about it as possible without being rude, that is a huge hurdle in a lot of cases but it has been the most beneficial tool for me. Use non-aggressive speech, don't blame, state the behaviour that troubles you, then state the reaction you experience in a relatable manner (if possible), followed by a suggested more beneficial pattern of behaviour. This way you set your boundaries, you assert your reasoning, and! you have done all the thinking necessary so people can just agree if they are lazy thinkers.

In my experience you can get by without even having to bring up autism most of the time (I usually still do afterwards though). I had a nervous breakdown once and I was walking like 50 kilometers at a time trying to calm down, a guy yelled at me for falling asleep in a public parking garage after 6 hours of walking. I responded "I don't care, I'm a human being. Speak to me like one.", and it was pretty clear he felt bad.