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Autistic people are said to have a special connection with animals, and research shows that autistics prefer the company of animals over humans. In my experience this is true. I believe this is because we are, like most animals, not as social as the average human. Humans are the most social animal by far, and thus the average human is highly conformist and concerned about a social reputation. Autistics and animals are more non-verbal and more objective.
However I do not necessarily recommend getting a pet for an autistic child. The benefit to your child is probably not worth the extra effort required to care for a pet. The child is better off with a stress-free household. While autistic people do have less empathy on average, people with higher IQ have more empathy on average. So it is possible that many high functioning autistics have high empathy.