UK based and am going for counselling, after experiencing fairly intense burnout: I found my counsellor on the BACP website, and looked specifically for those who had some link with autism. It's important to know what it is you want from counselling - and from what you say, this might not be right for you. Mostly counsellors aren't so much about giving advice on what to do, as finding ways to help you find your own solutions, and I see a lot of reviews where people say they've been disappointed because they were expecting teaching or guidance.
Mine has listened to my story, which I was allowed to tell in my own way - very different from going to a doctor, say, who asks questions to try to get the bits of the story which help them to make a diagnosis and plan for management. The counsellor does reflect back at intervals on what I say, or summarises parts of the story, and that's been helpful to me because it gives me new ways to think about the problems I've had. One thing we have covered is the fact that she finds it rather difficult to gauge what my mood is and would like to see if there are ways to help me to express it, and for her to understand it also. I've had a lot of problems with work, trying to ask for help, and having them attempting to read my face instead of hearing the words I say, and deciding I don't really need it, so it would be a useful thing to know how to do.
On the human interactions/dating side of things, I don't have enough answers, but as a teenager realised I didn't know how to do social things and set about at least learning what body language means, reading books and observing my schoolmates and others - it hasn't given me a perfect recipe for coping, but was a useful start. The only problem is that I maybe learned to mask a bit too well, which won't be helping my burnout...
