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The best self help book is right here on the forums. All the self help books I have encountered (I'm sure there are exceptions) appear to be written by "experts" who are not autistic themselves. They had no idea what being autistic is really like, and seemed to be geared toward either teaching how to mask and be somebody else to blend in, or curing the autism. Very little, if any, about how to actually deal with autism while being yourself.
She also has a blog: Musings of an AspieCynthia Kim writes well and is autistic herself.
She is worth looking at as an author - I have 2 of her books.