Tigris I don't think there is any ONE way to coexist with NTs that would work universally for all Aspies. We are each individuals with different goals, different perceptions and different struggles. Yes I do think our ability to learn is the key but, each of us needs to learn different things and, we each have our own learning style.
Some may want a quiet, relatively isolated life so, they need to learn skills that help them achieve that life be that job skills, off grid living, self sufficiency, whatever they need to live as they want to live. They wouldn't need much social learning since they don't want to socialize much.
Some want a family, a nice middle class job, friends, just a normal middle class suburban or city life. That requires different skill and, a bit more social learning.
Then there are some like me who want a career that puts them in the public eye repeatedly, musicians, actors, famous people. Again different skill and, the most social learning required to achieve that life.
I am motivated to learn by my own internal drive for success and, will learn whatever I need to in order to succeed at what I want to do. Other need external motivation, for others it has to involve their interests or passions or they won't learn it.
Some of us cope with pressure, stress and anxiety better than others. Some of us can push ourselves or allow others to push us well beyond what we think our limits are and remain positive in the face of embarrassment, shut downs and, meltdowns. Other would be crushed if anyone pushed them that hard continually.
Yes we can each achieve or goals in life but, the means to the end is the important part of that and, that needs to be tailored to each individual. It's a monumental task, no one group or organization can do it alone, Aspies can't do it alone and, neither can NTs, we all need to work together, help each other where we can and, find what works for every person on the ASD spectrum.
As much as I would like to make the world accommodate all of us entirely, that is not practical. What is practical is better education and awareness of what ASD is and, how it MIGHT affect any given individual. With that comes understanding and the ability of workplaces, schools, and any other public place to make accommodations that benefit us without disrupting the business, school or work place. That has to be a give and take between those in charge and the ASD people that work, dine, learn or shop there on a regular basis, there isn't a single global answer beyond education, awareness and understanding.