You can definitely improve in various ways, although I don't know what to tell you for a program. If you would like to be better at speaking, you can practice, you can get a volunteer job as a radio announcer at a public station, you can even join Toastmasters. It will be painful but you can develop yourself.
Likewise, you can improve your interpersonal relationships, though perhaps not to your complete satisfaction. You can learn greater sensitivity and tact. You can mask your stims (if you have any - not all do).
Some say occupational therapy can make any sensory issues less of a problem.
It's a lifelong project. I encourage you to think in terms of always growing, lifelong learning, and things like that, instead of a cure. You could very well end up more mature and socially adept than many NTs who don't improve themselves over time.
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A finger in every pie.