I did this. Totally drove my parents up a wall. Of course, they didn't understand that I had sensory issues and that i was either over or under-stimulated and needed to fix that. As an adult, I am both an excellent hiker and very good at finding my way around new places. So, I learned something. I still love visiting new places and just walking. I like observing other humans doing their human thing. I love being among the trees away from other people, too. Its just pleasurable.
You have to be safe about it, obviously. Some autistic people also have non-verbal-learning-disability. They are at real risk for getting lost and not finding their way back! Most of us are fine. I try to always have my cell phone on and charged when I go out. And I turn it off at 10% energy in case I need to call for emergency help. I bring water. Once, I was bike riding and got a flat and ended up having to call a taxi. I was a good ten miles from home and figured I couldn't walk back. I hate taxis but I did it. MANY times, I wondered too far and my feet started HURTING while I made it back, but that's not the end of the world. I just rested the next day.
When I was your age, I wandered into the woods while my parents were packing from a cabin camping trip. I got a little lost and it took me way longer than I intended to get back. It was so embarrassing! When I got back, everyone had left except my parents, who were trying to decide when exactly they should call the police. They were so nervous, I didn't even get in trouble.