I wish this therapy was a thing

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I have ALWAYS struggled socially. I didn't get diagnosed until last week with autism, although Ive known since I was 10 that I had it. So, I never received ABA therapy or anything. I wish there was a type of therapist that could help me for an hour or two a week, and would go to public places with me and help me be social. I am 19 so I don't qualify for ABA (I'm pretty sure). I see a counselor but she helps with my anxiety and doesn't really know anything about autism. Treating social problems aren't in her area of expertise.