Hi Concerned Dad - I think that as you are concerned, and are reaching out for help and advice, your daughter will be just fine! I didn't have the greatest parents either - both had emotional issues (my father probably has AS himself), they self medicated, etc - - - but I think one of the biggest things you can do for her is let her be her, and validate her unique sensory experiences.
Validate her experience: Her perception of the physical world is different than yours. When I was a child, my observations and complaints (light is too bright, the water is too hot, the sun hurts my eyes, not understanding people talking on the phone, being soaped down when being given a bath hurt - it felt rough, etc), were constantly dismissed - in less than kind words, I was always being told that I didn't know what I was talking about. This constant negative feedback about what I was thinking/sensing caused me to doubt reality, and to loose confidence in my ability to perceive this reality. I learned to say the right things and to deny my sense of self, which as an adult led to an emotional collapse.
I don't know if I had these things happen when I was a child, but as an adult, when under heavy stress or when very tired, my physical senses shift: Colors change, language becomes incomprehensible, my sense of smell takes a vacation, I see flickering lights were no one else sees them, etc. I have trouble seeing parts as a whole. For example, I'll see a bicycle, but not: I'll see two tires, and know they are bicycle tires, the seat and know it is a bicycle seat, the handles and know they are bicycle handles, but when looking at the whole, I will not recognize the parts as a bicycle.
You may not be able to change the world to make it comfortable for your daughter, but validating and acknowledging her experiences is important to teach her to trust in herself, and understand the world she lives in.