In fact, I'd go so far as saying that having sex is one of the few 'states' in which I feel that I can just let go and do the right things. It's one of the things I love about sex!
I recently read part of an Oliver Sacks book, it's incredible how different everyone's experience can differ.
No biggie. I've a partner, am employed and happy. Kinky too as far back as I can remember. It certainly made for a different kind of sexual development in my teens and early twenties. There was some sense of frustration and disappoint as I couldn't fathom how my sexual trajectory had become so misaligned to that of my peers. It was just different enough that I'd considered I might be the only one so kept quite about it. It took a while longer (post university) to realise there were plenty of others with similar interests.
On occasion I've bumped into or met/seen some professional peers (same research interest) in these settings. Slightly unsettling to say the least from a practical point of view as I could end more directly working with any of these people in the future. I've felt such incidents are difficult to put down to coincidence.
It may. It would enlarge the amount of things we use to relate to when we're communicating but it's not essential for a natural-perceived relation. The mechanics may be all what's necessary. From what I've noticed, all that non-autistic persons are really interested in this regard is the belief that the other person is emotionally-empathetic, and that interest can (more or less) be catered for.
That being said, I have to admit that autism gets somewhat easier with age because of increased general tolerance and endurance in individuals. Small children need close contact and may even die (in the first days of life) without, even with the basic needs taken care of.