I related a lot with Balki from the sitcom Perfect Strangers. He wasn't autistic but he did act like me a lot.
But the best show I've seen with characters I can relate to is A Kind of Spark (Based on the book which is also really good). I really related with both of the autistic characters (Played by actual autistic actors). In the fifth episode, Keedie had a sensory meltdown and it made me feel 'seen' as you say because I've had a few experiences like that. In the first episode, Addie had a short-outburst-type meltdown and I am more prone to those types of meltdowns.
It didn't just talk about meltdowns though. I related to Addie when others undermined her abilities. Keedie also masked a lot and I tend to mask too much.
Anyway, I don't want to talk too much, but those two shows really resonated with me.