This is actually a well studied phenomenon in research as autistic people have been shown not to have worse social communication or empathy but differently structured kinds that are sometimes incompatible with neurotypical people (I’d go find some papers but im typically this from bed in the morning)

Also if you’re looking for resources on how to best support and work with neurodivergent people I highly suggest you pick up The Canary Code by Dr. Ludmila Praslova, it’s probably the best text on the subject to date: https://www.penguinrandomhouse.com/books/742858/the-canary-code-by-ludmila-n-praslova-phd/

If you read what he talks about further down, you’ve built out that communication mapping for autistic-nt communication due to your circumstances (manager of autistic people). You can easily understand them. As a husband of an autistic wife though, I would say that it seems like nt people have a dramatically easier time building out that autistic-nt map than autistic people have building it. She still regularly misunderstands me and other people (unless I’m talking to her directly) but I understand her very easily even when she’s talking to her autistic friends.