Issue with another autistic friend

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So I have this friend I met in high school through my schools autism program and then we reconnected some years after high school since we had a mutual friend who is autistic. We would get together in groups and go out to dinner and things. Anyway after some years of reconnecting with him I am realizing I get stressed out hanging out with him and he is a bigot. He makes racist, ableist, transphobic, homophobic, and sexist jokes and thats not ok. I am a queer woman of color and will not tolerate that. He asked me what race these perpetrators were at my work who tried to burn my office down assuming they were of a certain race. I angrily told him that doesn't matter and I did not tell him. He said a certain race always shoplifts at the store he works at. Hes also a person of color, half middle eastern. He does not respect my boundaries or listen when I say I don't like something and he gets mad at me and says I hurt his feelings and hes sensitive to critiques. Like I don't like to be touched and he does not respect my personal space and tries to touch me and touch my clothing I am wearing without asking me so I said please no touching at all not even handshakes or elbow fives because he kept being like what about a fist bump and I said no touching at all. He shows up late to dinner and does not apologize or text us that oh sorry I am in traffic or sorry I had to take care of something. Its really awkward sitting at a restaurant for an hour and him not showing up. His special interest is walking so he walks to places and does not manage the time it takes to walk or he drives but does not tell us hes going to be late. Its so disrespectful to my time and I told him that. Time is not something we have unlimited amounts of.

Periodically he asks me if he is talking too much. I let him know he was, I said it respectfully and said maybe you can let others get a chance to speak. Then one day him and our mutual friend get dinner. I order myself an appetizer and he tries to eat a lot of it when I kindly offered if he and my other friend wanted to try some and oversteps his boundaries. I did not mean take a ton I meant do you want a few chips and dip. Another time he stole my tortillas and thought they were his when I ordered fajitas. He thought they were a free appetizer and kept trying to take my fajitas including my shrimp which is expensive and I did not want to share my food. He took salad that did not belong to him at a restaurant. Its not hard to ask first and be respectful of others food they paid for. He does not respect food boundaries and eating out with him is a nightmare. He also polices me and I hate being policed and told what to do. He asked if I was going to grab my (empty) shake after we left an ice cream place and I got so annoyed I said don't tell me what to do. Then he acted like a victim and said he was sensitive. I am an adult, I know to throw my drink away in the garbage. I can worry about my drink and its not your concern. I know looking back I could've said it differently than don't tell me what to do and explained I do not like to be micro managed.

So back to the dinner with our other friend, he is talking way too much to the server to the point where she can't go help other guests and she looks uncomfortable. Small talk is cool but he was going on and on and then we got ice cream and he was talking the workers ears off and asking them if they had tried liquor when both the workers were high schoolers under 18. He also asks the workers for a ton of samples even if theres a queue and does not respect the workers time and that they have other guests and tries to keep asking for ice cream flavors and tell stories about each one that he remembers as a kid. The workers have work to do and other impatient guests to serve. They looked extremely uncomfortable when he asked them the liquor questions and kept talking on and on to them. My friend and I text him the next day with our concern and say that its good to respect food service workers time and that they do not have time to chat since they have cleaning and guests. He asks us all the time if hes talking so much so he wants feedback. We let him know he was and he got all hurt and defensive. I get that he has RSD like I do and lots of us but he literally always asks for feedback and now hes mad at us for giving him feedback. He said we were blunt and unempathetic. He says if we are embarrased hes not responsible for our feelings and emotions. But my friend and I were not embarrassed we were trying to help him. I have worked food service many years and know what its like. Someone asking for 10 ice cream samples during a rush and telling their life story is not a good thing to do and sucks for the worker. I don't get samples when theres a line I just pick a flavor fast and pay. We knew he is working on this and saw he was talking a lot and wanted to help, thats it. He is always asking for help and feedback. It was through texting so of course you cannot see tone and maybe in person was better. That was the last time we hung out and the last straw for me. It does not help that he never listens to me when I talk or give my opinion so I am done, the least you can do is listen to someone even if you disagree. I know hes autistic and I know maybe he cannot help a lot of these behaviors but the bigotry and disrespect is a dealbreaker for me. Am I right to just end the friendship and not reach out to him again? That whole group stresses me out and I do not feel compatible with our mutual friend either or anyone in the group. I have just kind of moved on and have met others who do respect my boundaries and don't make bigoted remarks.