We just had the advantage of one on one teaching from either my wife or myself. We made sure we never isolated our children but rather took advantage of every opportunity to socialize in a safe environment such as ballet class, children's clubs at church, all sorts of events. They are able to relate to BOTH other children and adults very well. They understand what it means to be in a structured, classroom environment, and nobody thinks they are misfits. In fact, just the opposite.
Most people are impressed with their behavior, understanding and relational skills.
True, it's not over yet.