I was made fun of throughout elementary school because I wore exclusively Velcro shoes - I could not tie my shoelaces.
I finally learned at age 11 - the only reason I did is because I stayed up an entire night practising, because my class was going on an overnight hiking field trip, hiking boots do not come in Velcro versions, and I couldn't stand to be made fun of on the trip (without a reprieve of going home in the evenings) because someone had to tie my hiking boots for me.
I thought I was just fine now (though I only ever tie my shoes with a double initial knot and double loop), but it turns out I'm still much slower than the average person. Oh, well - at least once I get them done up, they're secure.
I was (/am?) motor-delayed as a child, and still do things like gripping my pencil extremely hard, or pressing very hard to write.
Corollary: do you find yourselves not wanting to take off shoes (even to relax, or when going inside the house, etc.) because it's just that much work to untie and re-tie them? I don't mean just being lazy, but I imagine that for a lot of people with AS, it really is more effort/more difficult!
I know I do this. I'd rather just keep them on; I would never take my shoes off for "a break" or to relax. (Also, I just really prefer the feeling of wearing shoes. Little, solid, enclosed environments for my feet.)