There's a book called The Reason I Jump written by a non-verbal autistic boy (dictated by pointing at a printed keyboard), where he describes being able to understand most things (except at times where he is overloaded by sensory stimuli), but is often unable to control his response as he wishes.

This has lead me to believe that sensory-motor differences may be the primary difference between autistic and neurotypical people.

But you also see this in cases of developmental trauma / CPTSD. There is some relation between the two conditions, but it is certainly not simple.