I have a neurotypical daughter who will cry when asked to leave something that she is enjoying (e.g. a visit to grandparents house, early departure from the playground, enjoyable playdate, etc). Even NT children do not like to transition between a preferred activity to a less preferred activity.
I think that it will get better soon.
I use a few techniques learned from working with my autistic son.
I give my daughter a clear indication of how long a visit or activity will last. Let's say it will be 1 hour. I tell her (regardless of whether she knows exactly what "an hour" is). At least she knows that this is an activity that will end. I give reminder as the time passes at 1/2 hour and then at the last 15 minutes, last 10 minutes, last 5 minutes, last 2 minutes and then we go. This way, she is aware that the activity will end and is ending.
When moving from a preferred activity to a lesser preferred activity, I might remind my daughter of another preferred activity that is upcoming. For example. "First, we get into the car to go home, then we will make pizza for dinner!! The getting into the car is the less preferred activity - but they are motivated by what will come next (making pizza).
Finally, another technique is to offer choice. If I was to have my daughter leave her grandma's house, I might say, "Would you like to walk to the car or would you like me to carry you on my shoulders?" The child has some control over the situation and is also distracted by the choice itself. I find a lot of success using this one.
Again, my daughter is NT. Crying over having to do something she doesn't want to do is not abnormal (having constant, lengthy tantrums would be more concerning). Regardless, I find many of the techniques that help with behaviour management for my autistic son also work with typical difficult behaviours with my daughter.