I know this isn’t the same as a friendship or intimate partnership developed between adults, but there are a lot of times I don’t understand my (teen and adult) kids, but I will always love them.

Yes! Interoception is considered the 8th sensory system and ties in with the sensory processing differences common in autism. An occupational therapist familiar with interoception can help. Kelly Mahler has some good resources (and a whole curriculum for sale, but look for the free stuff).

If you’re on the constipation side, try adding magnesium supplements.