Occupational therapists
Yes I have. I used to get occupational therapy when I was a kid. I had it from preschool to about 3rd grade (ages 3 to 9). I think I stopped doing it around 4th grade. Occupational therapy was helpful for me because the therapists helped me with things like basic life skills, fine motor skills (coloring in the lines, handwriting, using scissors) and other stuff. That was occupation therapy for me as a child. Its very helpful but I'm not sure how its like for adults.
I know this is an old thread, but I thought I'd reply for those who might read it. I'm obviously autistic but I'm also a P.T. Assistant (as of today, yay). When I was going to P.T. school, I got to see a lot of what OT did with patients. Their specialty is mainly in assisting patients with fine motor skills and solving accessibility problems for those with disabilities i.e. designing a kitchen appliance to make it easier to chop lettuce for a patient with weak wrist strength.
Ironically, now that I'm officially a P.T. Assistant, I'm planning on hiring an OT to help me with handwriting (mainly developing a real signature and helping me learn to write it relatively quickly) and also with placing a foot rest back on a wheelchair (since I'll be doing that a lot in my career). I have difficulty lining up the foot plate hole with the part it slides into. So basically, OT therapists are great for autistics.
When it comes to apraxia, dyspraxia, etc. that is an area that either physical therapy or occupational therapy can help with. Actually, during my clinical for physical therapy, I worked with a couple of autistic patients who struggled with their gross motor skills, and they improved a lot under my care.