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Lately I have been stimming mostly when they go to work and stop when they get home...
I'm just scared that they'll hate me or something and I really don't want them to leave me...
I told them that I'm autistic but they didn't really care for learning about it at all and that makes me nervous about if I stop masking around them...
Just be like "You want to hear something funny? Sometimes when I'm nervous I....".
Most likely they will think it's cute. Who knows, they might come back with, "I thought I was the only one who did that!"
If they think it's stupid, move on. Because you deserve to be able to be an authentic human being.