I'm autistic, probably have ADHD too but that's a 7 year wait list so we'll never know.
I'm in a programme right now at the job centre focused around helping autistic people find accommodating work.
The gist of it is, autistic people have some skills that could make us better suited for certain types of work, especially if it surrounds our special interests.
For example: My special interest is tech and video game related stuff, it changes every few months but it's always under that category. I'm shit with people and managing myself, but I'm great at following instructions exactly how they are and I'm an analytical thinker and pay attention to detail. So the type of job I'm going to go for is some sort of data entry job or quality assurance job. I don't have to deal with the stuff I'm bad at and I'm able to focus on what I'm good at. Granted, there's the issue of getting the job in the first place and having the capability to stick with that job- but your skills are useful somewhere. Everyone has something to offer this world, you've just gotta find your thing autism or not. (not in a super pro life kind of way don't take me wrong)
You don't even have to work full time, it's not an all or nothing kind of thing. The government would much rather you work a little and be healthy then have to pay you the full unemployment benefits and the healthcare expenses if you get sick from working too much. Anything is better then nothing right?
Have you considered assisted living? I'm not sure what country you're in, but in the UK the government may pay for a group home for you to live in where you are given some independence with the support of a carer. It might be a way to be less reliant on family if you're worried about that. If you haven't applied for disability benefits already make sure you do that, it'll lighten the load on you.
I feel the same way as you a lot of the time, I'm in a similar position. I worked part time which was like 6 hours a week and couldn't handle it. It's tough but we do what we can with what we have.