I'm okay talking to my best friend or my mom, because with both of them, I am free to say something like, "This thought is hard for me to put into words, so bear with me..." and they are just fine with that. They are both people who choose their words carefully, and take their time to say what they mean, just like me. I wouldn't be surprised if my mom was a bit AS, and my friend has a few characteristics, as well.
Here's what is really difficult, though. If I need to make a phone call to take care of something, like some health insurance or banking red tape. I don't know how to talk the "language", and am overwhelmed by the ridiculousness of it all, and the fact that if you mess up, then it could cost you vast amounts of money. It's vital that the person on the other end of the line is a really good communicator, with an accent I can understand. My fear is that I'll get someone who just doesn't click with me, and we can't communicate. The worst thing is when you dial the number, and someone comes on the line saying, "Blahblahblah Blah blah. How may I direct your call?" That never fails to throw me. "How may I direct your call?" Well...I need to talk to someone who can help me with my problem, but now I know that your job is to answer the phone and direct calls, so you are probably NOT going to understand what I'm talking about if I try to explain it.
At least, as I've gotten older, I'm much more willing and able to say, "I don't understand what you mean" or "That's not a term I'm familiar with." When I was in my twenties, I couldn't begin to say something like that. I would shake and stutter, but couldn't just ask for clarification.