Here's how the training wheels came off for me: I'd been riding a bike around with training wheels, then one day the wheels came loose and started flopping around, no longer able to do their job. I noticed I was balanced just fine still! That's when my mother removed them completely and I knew I could ride without them.
Another key point of balancing: it's easier the faster you're going. It may be tempting to try to stay balanced before you even start moving, but that's just flat-out impossible. I'm 28, learned to ride a bike at the "normal" age, and I can't do that! It won't really hurt any worse if you're going a few mph and fall, and balance will be possible! Do it on the grass so it hurts less if you fall - that will take some nerves off.
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Your Aspie score: 98 of 200
Your neurotypical (non-autistic) score: 103 of 200
You seem to have both Aspie and neurotypical traits
AQ: 33