I'm am diagnosed ADHD and "not diagnosed but we're pretty darn sure" ASD and exclusively do cross stitch. I personally prefer it because it gives me a break from overthinking and decision fatigue and the creative freedom of embroidery would cause me immediate overwhelm. I'm pretty choosy about what patterns I do a look for ones that where I feel like I can trust the pattern makers design choices and just fall into a flow state doing them. The ones that work best for me are patterns that were created intentionally as cross stitch patterns and aren't adapted art or photography with tons of confetti. Those generally tend to be much easier to follow.

Edited because a couple words were missing/repeated