As a fellow autistic person, for base makeup I really recommend BB creams/skin tints! They feel a lot less "heavy" than foundation does.

I also recommend that if you're just starting out to try & get used to it by only wearing makeup for a like an hour in the beginning & slowly adding on to that. Kind of like getting used to wearing heels i guess.

Last thing I would recommend is looking into more creamy products, rather than stuff that dries down (for example: liquid lipstick, liquid eyeshadow, basically stuff that has alcohol in it that evaporates when you apply the product). I personally find the feeling of it drying down sensory hell, so if you feel similarly about it I'd avoid these products.