Welcome
@ShaunG,
Self-awareness is often the first step towards becoming that "better person" you hope to be. I am 55 years old,...and I can tell you for sure, it's a work in progress. Learn as much as you can about yourself,...be self-aware,...and before you engage in a social interaction,...take that second or two to pause,...taking in as much verbal and non-verbal communication,...take in the specific context and perspective,...then, if you can, respond in a "calm, assertive" voice.
Historically, my issues have been this combination of (1) not reading people, (2) not narrowing things down to their context and perspective,...and not respecting another's "personal truths", (3) coming off as an annoying "know-it-all", and (4) having a quick wit,...firing off a response very quickly without pausing to take in all the information.
Now, do understand,...and I think this applies to everyone,...autistic or not,...that if the conversation is important enough,...those that test morals and ethics,...people WILL take offense,...they just will. However, these types of conversations are important and should be had,...on the condition that everyone should be in the proper "head space" to have the conversation before it ensues. If not,...it just becomes an emotional shouting match.