Nowayout: I do not have any wisdom to offer but I can offer hugs
It is pretty evident in the way which you express yourself that you really love and value your son. Try not to undervalue your presence in his life. I am certain that he appreciates your presence more than you may even know.
I wish I had some wisdom to offer but I do not as I too struggle with my own version of a nuerodiverse community of humans! It might be a case of the blind leading the blind.
I really value the support I recieve from my loved ones which allows me to lead a life which is somewhat "normal" for me.
They love and accept me for who I am which gives me some confidence to branch out into the world in my own way when my energy allows. It means the world to me. We help each other as best we can.
That is all I really know on this topic: love, acceptance and encouragement.
I hope that you do have a nice time on your trip with your son and do not need to activate the air horn to scare away the bears. I also hope that you find the answers which you seek, some way, some how.