I think that it comes down to a personal decision. Some folks like me will seek friendships and do what it takes to make that possible, while others will chose for personal reasons to go in the opposite direction. What do you think?
I think it's not different than liking a certain hobby or not. Some will like a certain thing, others won't dwell there. I don't see my way of relating to others as something fundamentally different than my way of learning about something that interests me, or not. Having friends/making myself sociable/learning more about social stuffs, used to be one of my interests. I don't feel it used to be very different than my way of learning about dinosaurs or digital painting; or my way of not being interested about learning german language or not being interested in learning about politics - at all. Some might be more interested by social relationships than others just because it's this way. The interest might evolve as well.
It's personal, so I might be wrong.
Maybe it's also linked to how social relationships make you feel, your early (and less early) experiences.
If you have good experiences and are encouraged to dwell on the subject positively and people accept your awkwardness, then entering into relationships might make you feel better and be more rewarding than if you learned that relationships make you feel bad. It's very human.
Also, I've seen an interesting documentary about a young ASD girl, and she wasn't talking. But her parents took a cat and both bounded like crazy together, and she "learned" to enter in relationships a bit more through the contact with the cat.
I had the same transitionning as her when I was a kid. Althrough I was talking, I needed my cat in order to learn how to enter in relationship with others more. I was like that girl, I wanted to take the cat everywhere because it was my friend - had a lot of meltdowns because of that.
So, yes, anyway, I think any kind of positive experience of entering in contact/relationship with an other being is good to take with people with ASD. Without pressuring either. I think pressure is the best way of having the person feel an aversion.
Anyway, those are my thought, I might be wrong and there might be maaaaaaaany more things going on. It's also about what I experienced personally, so not universal.