In general, autistic people find the way that neurotypical people communicate to be very frustrating and annoying.
In my case, I'm dead jealous of the skill and wish I could get halfway to the ease and economy many of them have!
Not a chance. Even after 60 years of practice, I still sometimes communicate as if I've been locked in solitary confinement and am not used to moving my mouth, and I'm simultaneously translating from another language to English.
I don't find other people's communication confusing, it's mine. I don't think in words and I've no idea in advance what's going to come out of my mouth. I've got much better at not saying something so inappropriate that it offends/ provokes/ upsets/ embarrasses, but when I'm trying to pass on something important, it's frustrating listening to the diamond-studded gobbledegook I spout.
That doesn't help
@Hoopoe though. I still think it might be good to start by warming up your social muscles a bit, maybe by joining a group that does something you're really interested in. Even if you don't stick around because it's too exhausting or the group members aren't your type, the fact that you actually did it is a good for social confidence. It could be an ME group, if there is one; and sometimes you may be able to size a group up first by doing online stuff like attending Zoom talks or meetings.
Community groups are usually really nice, with a mix of people. In the distant past I did a couple of courses that were either a bit competitive for my taste (photography) or where I found a few social attitudes that weren't in tune with mine (art group in a posh area), but the people were welcoming all the same.
I'm sure there are other approaches if you don't like the idea, I'm only suggesting it because I've done it a fair bit. Never to make friends, the motivation was always learning and doing things I'm interested in, but I often do meet people I take to. Interest groups aren't always the best way to meet potential partners, but they'd give you a chance to practise the skills you need when you do.