Yes, but not everyone with Asperger's or autism will have poor motor skills. Additionally, I suspect that some of us experience a natural improvement over the course of our lives. At least that's been the case for me. I was the typical clumsy Aspie kid, poorly coordinated with an odd running gait and the muscle strength of a wet lettuce. It was obvious I was so much worse at physical education than other children my age - one teacher accused me of not trying, even though I knew I was trying my little heart out - and that remained the case until I graduated from high school. After that I avoided most exercise until my late 20s because I associated it with humiliation and failure. Motivated by body pains and aches, I started exercise again in earnest three or four years ago. I can now run 3km and draw no more attention than any other jogger.
I reckon I would still be poor at team sports, but I have no wish to pursue those anyway because I'm not interested in the social aspect. I still have bad coordination whenever I do something new and it requires me to think about more than one thing at a time - but that goes for all things, not only sports or exercise. The point is, I have improved.
Bizarrely, I started walking at nine months. Go figure.