Imagine you’re driving a brand-new car, and everything is working perfectly fine, you’re out in traffic, you can stop at the lights keep up with other vehicles, brake when people slow down and all your lights work signalling your intentions to other road users and you happily get about with little fuss.
Now imagine driving a car and the brakes don’t work, the steering wheel is loose, and the lights seem to have a mind of their own.
You go out into traffic and overshooting the lights while indicating wrong directions, people are getting angry and upset with your erratic driving.
Eventually you crash into somebody, they get angry and it’s all your fault.
With experience you can control the car a bit better and to anyone watching your car looks fine, but they don’t see the amount of effort and stress involved in keeping it out of trouble.
You may or may not have guessed that the first car is an example of neurotypical people navigating the world and the second car is me trying to get around in the same environment.