learn them when you are young. Have your children learn them when they are young. They will help you tremendously. People don't even know that I am an aspie. I make full eye contact, pick up on body language, pick up on tones, and can pick up on sarcasm easily at the same rate as neurotypicals can. I can blend in as one of the guys (except that I am a bit of a light weight when it comes to alcohol). They probably suspect that I'm not your everyday guy (but then again, neither is Robin Williams or Eddie Izzard). Then again, I am a musician, so it's a requirement to be "a little out there"
When you are first learning the skills at the young age, it's harder because you have to think about what body language or tone to use or what to do and what not to do. It's like learning an instrument. Soon enough, it becomes second nature, though you still have to think about it just a little. I get through the day just fine.