It can! And Margaret's article is great!
The Upledger Institute has been studying how CranioSacral Therapy can effect Autistic folks (or folks with Autism Spectrum Disorder— saving a discussion on identity-first language for another time) for many years now and has proven it an effective treatment for relaxing the individual and allowing them a feeling of greater ease with the world around them. CranioSacral Therapy directly releases restrictions in the structures of the head and spine, nourishing the central nervous system. It's also non-invasive and can be practiced in small increments at the leisure and comfort of the client.
For more info check out: https://upledger.ie/articles/autism-spectrum-disorder-how-craniosacral-therapy-can-help/