As usual, NTs don't always say what they mean and mean what they say. I think what the statement really means is that dancing can be for everyone. It doesn't need to be, but anyone can embrace it.
That means if you find the right venue and/or instructor that matches your thinking style, anyone can learn to dance and even embrace it. The problem is freestyle dancing, which is "just following the beat", a skill NTs naturally have and aspies don't. This can be overcome by taking dances lessons in formal dances: swing, Latin, and hip-hop. I myself started doing that back in 2003 or 2004, and continued on-and-off ever since. I can't even begin to explain how helpful learning to dance has been for me, both for meeting women and for social situations in general. On every cruise I took, dancing was front-and-center, as far as evening activities were concerned, and I was able to jump right into the action.
Swing in particular runs in 4/4 time, the same time signature as most contemporary pop music (which you can swing dance to sometimes), so follow that for your rhythm. Most people know at least the basic steps for it, so it'll be easy to find a dance partner too. The solo freestyle moves can be found on YouTube, or even taught in a few dance schools. Sadly, I can't explain this in more detail, since dancing is now at the NT level for me, due to the length of time I've been doing it. (Except for this year, when Corona threw a monkey wrench into it.)