While I'm sure there's plenty of people who adhere to that theory, I'm worried you're getting that confused with the theory that a bunch of handicaps (among which is autism) are mostly just handicaps because the world isn't accommodating them.
You can imagine if everyone in the world was in a wheelchair it'd be real easy to get around in a wheelchair. Similarly if everyone in the world had autism it'd be much easier getting around having autism.
Whether you like it or not, to people with autism "other people" are a large part of the problem. Having sensory issues around shaking hands isn't inherently a huge problem, but fuck me if people don't make it a huge problem. Your options are basically to either have people think you're a gigantic asshole or to be deeply deeply uncomfortable whenever it comes up.