I've never been diagnosed with autism, and if I am on the spectrum it is only barely, but I'm pretty sure all people experience the "can't fall asleep because thinking about embarrassing social-interaction" phenomenon. What might differentiate neurotypical from autistic people in this regard is the sheer amount of information that they are able to glean from a social interaction. That is, a neurotypical person will remember body language, facial cues, and coded language (e.g. "oh.. that's interesting...") as being significant parts of that social interaction to a greater extent than people on the spectrum.