Although we can't diagnose you over the internet, what you've described could certainly be due to autism. A good therapist would be helpful, but it can be hard to find one who understands autism, especially in adults. I had to rely on self-diagnosis and a lot of googling for years before I got lucky enough to find someone who knew what they were doing. If you can find one, they are very helpful. Alternatively, you might find a therapist who doesn't specialize in autism but is willing to listen. In that case, it's helpful to do some research in advance so you're prepared to discuss everything you think might be relevant.
Even if you don't go the therapist route, you might find some helpful advice from people with similar experiences. You can probably find some threads on here where people discuss similar issues as the ones you've described, which might contain some helpful advice. I wish I could give more specific advice, but without knowing more about you and the people you're interacting with, it's hard to do that accurately. If you were my client (I'm autistic, and I work with a lot of autistic clients), we might analyze the situation together, identify where things are going wrong, and find practical strategies to change the pattern of the problem, such as creating a script to clarify whether you've actually been insulted before it escalates into someone calling the police, or practicing recognizing and advocating for your needs for things like repeating yourself to understand.
Sometimes the most helpful thing is to do your own research. Books and blogs written by adults on the spectrum can be helpful, even if you aren't sure whether you're actually autistic. Sometimes similar strategies can be helpful for similar problems, regardless of whether you have a diagnosis. You'll probably find people with similar experiences, although having a qualified professional to help is extremely useful for applying what you learn to your own life. Personally, I started with the book Living Well on the Spectrum, which I did discuss with a professional but also did a lot of work independently. It provides some nice insights into common differences in autistic thinking and provides a framework and examples for identifying problems, setting goals for things you want to change, and considering different possible solutions. It doesn't solve everything, but it was a nice place for me to start.
I hope you find the help you're looking for!
