My children have received autism-specific therapy and learned key NT social skills from it. I am happy to share my understanding of their experience, but I would ask permission first since this question was directed at autistic people and my official role in the family as dad and husband is being "the most neurotypical one."
Edit to add: they have learned skills that help them navigate life, including life in a NT dominant world. I hesitate to label them as NT skills because they are used by my autistic children and maybe the actual skill is approached differently, but that is probably pedantic.
Share away, please! Btw, I believe everyone has the right to understand in their own way how autism and society interact, so please don't feel the need to exert too much effort on pedantry unless you really want to. Personally, I appreciate diverse persepectives because I feel it gives me a well-rounded view of the situation. It's like if we were all standing around an object. I can only see my side, but if we all shared our own perspectives, then we could see 360*.