During my entire 48 years long life I have had only a couple of such persons I have felt connected to. Most people, even ones I have considered as my best friends, I have felt to be a little bit out of sync with me.
People often seem to have hard time to get my point and are trying to predict what I am saying, thus getting distracted to a wrong path of though, and I have to put some effort to express myself in other words so we could return to the main issue (I wish they wouldn't assume that I am talking about pets generally when I am actually talking about dogs, for example). I don't think I am that slow and meandering talker, that they just get impatient because of that, but it appears to be so (or perhaps I am too fast and meandering talker instead).
What I said above, applies to face-to-face conversations. At online forums I haven't noticed any unusual amount of problems, as I have time to polish my message and to think arguments of, and for, both sides thoroughly (it easily takes an hour to write a message like this).
Generally I haven't spoken with NDs here, or elsewhere, so much that I could tell if I get understood among them any better. But I think if you occasionally don't get what I am saying, most likely explanation would be a language barrier. A funny thing is, that I haven't noticed too much difference between discussions here and assumed NT-populated forums
Edit: Jokes and complex matters, when both require some logical reasoning, seem to be causing most issues. The way how I reason things don't match with the way how others like to reason things. Same result but different path with different emphasis on details. I often hear them to say "you are thinking it in too complicated way" and I have to answer "I am thinking same thing about you". When I returned to the university few years ago, this became obvious as their teaching methods were something that really didn't work with me: I ended up just reading a lot of books and appearing to exams. Lectures, lecture slides, and asking clarifications from teachers, were just confusing and even harmful to my learning, so I quickly learned to avoid them.