The majority (86%) of autistic people and those close to them do not believe they have the same chance in Irish society as others.
A report launched by Ireland's national autism charity, AsIaM also showed that 90% do not think the Irish public understands autism.
The 'Same Chance Report' was informed by a survey of 1,600 autistic people, their family members, loved ones and carers.
The majority of respondents were parents (72%), while 22% of autistic adults independently answered the questions provided.
91% expressed the belief that being autistic was a barrier to being accepted and making friends.
The report pointed out that for many autistic people, engaging in day-to-day activities which others would not have to think about, can pose significant challenges.
Therefore, it has stressed the importance of local autism groups and autistic-led groups in communities to provide opportunities to socialise, make friends and engage in activities.
75% of respondents said they did not believe the healthcare system was inclusive.
The report said autistic people often face "structural discrimination" when it comes to accessing non-autistic specific care and cites the mental health service as an example.
It said that despite a majority of autistic people experiencing mental health conditions, they were frequently denied access to mental healthcare in both the public and private systems.
Many who sought this kind of care said they experienced barriers to access on the grounds of being autistic.
Two-thirds did not find the education system to be inclusive.
The report said appropriate culture, training, policies and practices were required to "underpin" the child's school experience.
"It should also not be necessary for families to have to apply to a large cohort of schools to simply receive an offer of a place," it said.
AsIAm CEO Adam Harris said that depriving autistic people of the same chance represented a loss of diversity, talent and perspective for Irish society.
"It is important that inclusion is not defined merely as access to services such as education or healthcare. It is about public transport, the workplace, and life in the community in a much broader sense.
"Autistic people will only enjoy equality in Irish life if we live in communities which are informed, accepting and affirming of our community. Yes, there has been progress in some areas, but there is so much work still to be done."
