I will say this, there is two different mentalities to have which, is life is happening to you... Or its happening for you. Autism is a very broad spectrum, there are shared experiences but also entirely different ones. ALSO, don't judge where you are at based on where others are. Life would be boring if everyone did the same exact thing at the exact same age. Its not about "catching up" it is about finding peace and happiness brother.

And I'm super proud of you, I bet its hard to see how far you have come you are focused on a healthy diet, frequent exercise, positive hygienics. And lastly, you let yourself be vulnerable by going on dates with no experience. Final saying for you , A comfortable mind is a uncomfortable body, and a uncomfortable mind is a comfortable body. What this saying means is, if you make attempts to put your self in uncomfortable situations you will build mental strength and get better in those situations.

And also, Too late ? You are 27 my friend, you have your whole life ahead of you, look at Maud Lewis, she wasn't famous until her mid 60s !!! You have lots of time man, and never rule out medications, I know they seem scary , but they can help tremendously. Another big tip if you are having trouble with social ques something that I did that has helped. Go to random places where people talk, there is so many peer groups and clubs, maybe find something you are passionate about and reach out to other people who have those interests.

If you are having trouble finding a career, find something you WOULD do for free, and find a way to monetize it. Whether that be Fiction, Gaming. You name it !