(But try telling neurotypicals that.)

Sometimes the explanation for “the rule” is that people like to be able to mutually share a fiction with one another without piercing the fiction with direct reference. A lot of debt among equals works this way. You may pay for someone’s dinner or do them some favor of labor, so they will have an excuse to have you over for dinner or see you again and be able to offer some help to “pay you back”. Neither person wants to completely zero-out the “debt” because both want excuses to continue interacting and re-balancing the imaginary ledger.

A non-neurotypical person is capable of understanding this and acting accordingly. (Commander Data in “Star Trek: The Next Generation” is, accidentally, one of the best-written examples of this sort of phenomenon.)

Often, tho, these ambiguities are not a politeness between equals but an opportunity for a more powerful party to quietly assert their power while pretending it’s something different. This is why it’s called rude to ask about certain social rules: it makes the more powerful person have to make explicit what their supposed authority rests on, and they’d prefer not to.

A boss can show up to work in jeans and hoodie as they please, but the lowest paid and empowered employees have their professional dress, or even personal speech and behavior, policed much more tightly under the fiction that it’s very important how those workers represent the business in public, nevermind what the boss is doing. Power makes people understand this is the way of things, but to say it outright makes the unfairness of “dress codes” impossible to ignore.

Not having thought too much about it, children might all intrinsically belong in the “non-neurotypical” category (by adult standards) because they can’t have learned all of the invisible social rules a person is supposed to follow except by their asking. This is regarded as particularly annoying because they are throwing sand into the lubricating fictions of “that’s just the way it is” many neurotypical adults learn to accept by a certain age to avoid thinking too much about.