I scored above the 99th percentile on IQ tests, and I am not on the spectrum. However, I would not say I am exactly neurotypical either. I had some issues (still do) with motor skills as a child, and walked "funny." I have sensory integration issues beyond what is considered normal. I was spaced out a lot as a kid, and I was the kind of kid who would get lost walking around the block. I had a lot of executive functioning issues (still do), and anxiety.
I have two sons, who both tested with high IQs as well. One of them has Sensory Processing Disorder and Dyslexia. We think the other one is on the spectrum, but are still waiting for the official diagnosis.
I have known some very intelligent people that I would consider neurotypical.
I don't think that the term "neurodiverse" is just meant for people on the spectrum, though. I think it covers Dyslexia, ADHD, and other issues.
I don't know that I would consider people with intellectual disabilities neurotypical. I think I would consider that neurodiverse, as they are not processing information in a typical manner.