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I would imagine most societies would look sort of like Germany or Japan, but the real question is which widespread social norms are directly or indirectly caused by endemic and widespread Neurotypical Disorder, as well as what those social norms would be replaced by
For example, I would expect the attached poster to not exist for various obvious reasons. But how do you think an autistic society would handle the indication of listening/attentiveness?
A few off the top of my head...
The general small/livable scale of things, although this is more of a european thing IMO
The continuous footways that separate busier roads from residential roads, encouraging drivers to be a bit more considerate of pedestrians. Some other countries try to copy these but most don't get the balance quite right
The canals everywhere in the cities look really nice, although this is less of an infrastructure thing I think
Suburban areas with nice small roads (woonerven and fietsstraten IIRC?), giving a more homey feel, discouraging speeding and rat-running while still allowing people who need cars to have one
Extremely well connected bike path network, usually with enough parking to match
Appropriate road sizes, sometimes separating the direction of travel with green space & trees so it looks inviting and natural, and kinda self-regulates driving speed
A lot of design cues in general that aim to keep road users safe, whether on foot/bike or in car