Walking is my meditation of choice. I feel very comfortable counting my steps with the breath (two-four steps inhale, two-four steps exhale). When I'm really tense or stressed I can only expect one step per breath. As I relax after 15 minutes or more of walking, I can pace my breath to go longer from there.
The closest I can come to meditation is from stretching and focusing on the changes as my body relaxes (or sometimes tenses) into a pose. Stretching feels like a stim for me. Most of the time, I find yoga very relaxing, but just sitting meditation (and resting the mind) is very difficult.
If you have pets, they can either be annoying or very funny when you try to do yoga or meditate. If I'm in a really bad mood, I tell them to go away. Sometimes, even in a bad mood, I can't help but laugh anyhow when my cats are walking over or under me during yoga. It is just absurd and ridiculous to have pets stepping on you while a yoga video says, "release your mind," "think about your breath," etc. It's hard not to think about all those distractions when pets want attention so obviously.
Usually, I am kinder to the pets when they bug my meditation time than I am with people. People can be a lot more distracting, upsetting, and needy than animals (depending on the animals and the people). For instance, if I had waited all week for my husband to watch the babies so that I could do yoga, I would want him to really not bug me during that time. Also, if I get up in the middle of the night because I am too tense or feel tachycardia or hungry and do yoga, I don't want anyone to bug me and say "go back to bed" when I'm doing the best I can at that moment to relax myself.... Aspies should get time to relax! Especially if they take care of little kids all day! Now I'm just venting. I think yoga is in order right now.