If you think it will help boost your confidence and you're comfortable with your first sexual experience being with an escort then go for it. I understand you wanting input here but you know yourself best. Of course there is stigma attached to hiring an escort but as long as you're both consenting then why should there be a problem with it?

As far as first times go, I've never heard positive feedback irl and I know my own first time was a disaster, so I don't personally understand why so much weight is put on losing your v card to 'someone special'.

You do you, and whatever you choose I wish you the best.

Side note: Confidence in yourself comes with time, at least it did for me. Maybe there are social groups for other autistic people near you? A while back I joined a social group for others with mental health conditions and meeting friends through that really boosted my self-esteem. Now, at 30, I feel much more confident when talking with people and don't feel like such an alien (despite the username).