Now - I'll 1000% agree, and speak from long years of work, that adhd and autism likely make it harder. But it's also quite hard for most people, just for different reasons, so I don't find it a filter with enough specificity.
(Perhaps I'm sliding onto the dark side of the force, I certainly wouldn't have thought so 20 years ago, but as I learn more about the massive scope and mandate of senior execs, and the time crunch they operate under, I am starting to understand a bit better than I used to, the value of speaking in orderly and well summarized fashion. Still struggle with it mind you, but do see there's more to it than just neurotypical filtering.)
Edit: It's about communication but also hype/motivation. Be it for the team, shareholders or customers.
And communication can be done in many ways. It doesn't have to be political speak, sometimes the directness some smart awkward people bring can be good and being awkward gives them the right to be direct without coming off as rude professionally.
More seriously though : Most big companies these days teach some variation of a 4 quadrant personality model such as DISC or equivalent. Scientific validity of these aside, today there's a fairly broad acceptance in North America that leaders come in different types, each with strengths and weaknesses.
I was personally shocked how many executives around me, with extreme client relationship management and people skills, are some kind of neurodevergent. One thing I've observed, and others may disagree,is that they can be much better teachers. A person who is "born leader" will struggle how to convey their skillset to others. A person who on the other hand had to themselves learn these skills the hard way, can much more easily decompose and relate them.
My wife has jokingly been called the most neurotypical person in the world :-). She's extremely emotionally intelligent. She intuitively does things which I had to learn on a very rational, conscious, intentional level. She's better at people skills than I am, but wouldn't even know where to begin to teach them, it's just too "obvious" for her to do or say the right thing.
Anyhoo, my answer to your question is "absolutely yes, but it'll take dedicated hard work " :-)
I think with Musk/zuckerberg/gates you are seeing a giradian duality. They simultaneously appear charismatic and awkward. It’s either extremely context sensitive or you are unable to accurately perceive it.