Yes, i completely feel this way for the aforementioned reason that it is work for us and exhausting. I also realize, however, that people, ASD or not, need other people. We are interdependent and cannot change that. Only our technology makes it possible for us to isolate these days. Even though it is work for me, i take on what i can. The limit for me is about 3 (including husband, not counting children) and they have to be friendly together to avoid trouble. We all have responsibilities so it keeps me from having to spend serious time or face time very often. I find that if i just 'touch base' with them on a regular basis (couple of times a week w/ non-spouse friends by phone, email, chat, etc.) and spend time physically together once a month, that works.
Why do it? There are a lot of good reasons:
Their presence in my life helps regulate my obsession time.
They give me feedback which helps me improve social skills.
They help fend off depression, often by being there to need me. It is easier to avoid depression if we sometimes see other people have problems too, and often bigger ones.
I'm sure there are other good reasons. These are the ones that first come to mind.