I think that is a wonderful manner in which to help your child. Coming from a family in which my mother and her entire family (to which I am very close) are NTs - that would have been so very helpful growing up. Instead, I was forced into manners training: learning how to act in a formal setting, ballroom dance, escort a female properly, how to make smalltalk at a formal dinner, etc. I learned it, but never thrived when I attempted to interact with peers in a casual setting.
I would certainly feel comfortable stating that you would do well to teach other parents of children with AS about your model of assisting.