Mama, you need to see if you can find a support group. If there is not one, start one. Make it a time during this gathering to all close your eyes and find some peace. Then all of you parents can say whatever you are feeling with no judgement.
Treat yourselves to a treat during this gathering. Iy does not have to be food. It could be a bit of crazy dancing, some stretching in silence, each telling a stupid joke. Singing...
Counseling is also an excellent place for you to be able to express every feeling you are going through. Your spouse or partner can join every once in a while as needed.
Our children are never perfect. We will experience some realizations that they each have issues. In your case, it could be a lifetime. But if you look at it as a part of what makes him special, it can take some of that burden away.
I know so many adults and children that are on the spectrum. With enough guidance and professional help, overall they can work through and with these quirks. It will never be "perfect" but guess what?, nothing is perfect when humans are involved. Study your own child and figure out best practices with him. What works and what to avoid.
Be good to yourself. Take and find time and activities that can refill your spirit and energy. ask for help from family and friends. I am sending you strength and peace.