I started eating often with a fork at my parents' urging when I was 7 or 8, and do fine now but still make a little mess when I eat. (I was okay when I was small too, just a bit clumsier, but I didn't like the taste of metal or plastic when I was eating.) Knives are a pain because I can't hold down meat with a fork, but there are lots of ways to get around that. I usually have someone else cut for me, or hold with my fingers while I cut, or eat things that don't require cutting.
I didn't think it was an autistic thing, because a lot of NT people also have trouble with this. I'm the only one in my family, but I'm also the least socially self-conscious and so had less need to learn to be good at it.
Sora wrote:
I love how I'm suddenly allowed to eat with my fingers as an adult. I always got punished for even suggesting the very idea as a child. I only do in private or with friends though. If I were to do it in front of the family, at lunch or dinner, they'd have my head for sure.
Now that I'm an adult, my parents only rarely scold me about that, usually just if we're out and they think I've forgotten. I think they wanted to be sure that I knew how and could be well-mannered if I had to be, and that's why they said so strongly that I must eat with a fork when I was a child. Maybe it's the same for your parents, and they won't be bad about it now.