My children have received autism-specific therapy and learned key NT social skills from it. I am happy to share my understanding of their experience, but I would ask permission first since this question was directed at autistic people and my official role in the family as dad and husband is being “the most neurotypical one.”
Edit to add: they have learned skills that help them navigate life, including life in a NT dominant world. I hesitate to label them as NT skills because they are used by my autistic children and maybe the actual skill is approached differently, but that is probably pedantic.
Good documentation should, in part, tell people where to click. I have designed software documentation for high performing individuals at leading global companies, and I have designed software and hardware documentation for minimum wage fast food workers with limited English proficiency. In both extremes, I showed them exactly where to click on the screen at each step.
You might not need that level of help, but many people do. Others do not strictly need it, but they prefer the simple instruction set. “Click here then here,” instructions ease the transition into a new system one needs to learn, or it removes the need entirely to learn a system one uses infrequently.
The problem is that making good documentation is difficult and time consuming. It relies on a fundamentally different skill set than coding or even UI design.
I agree that the ideal is for software to not need any documentation. In my experience, I have yet to see software that rises to that task and is used across a variety of experience levels and societal cross sections.