Especially after the recent post of both the OP and the husband, I agree that couple-couseling with a neurodivergence-experienced (!) counselor would be a good way to go for both of you.
There are things on both sides here. OP, I understand that you educated yourself about autism and ADHD, but maybe try to get more varied views on how different people with ASD and/or ADHD manage their lives.
My husband and I have different ideas about routine. For me, it's just checking the laundry basket every day and doing the laundry, checking the dirty dishes every day and putting them in the dishwasher, etc. That's routine. For my husband, routine is doing the laundry every day at 7:30 PM. But what if there isn't any at that time? What if we're not home at that time? That's it, the plan won't be completed. And then everything gets shifted and it's chaos. Or writing in your diary, "Iron clothes on Wednesdays at 8:00 PM" - the same questions... But what if we're still out for a walk with the child at 8:00 PM on Wednesday? What if he's late at work? And so on. I think routine should be tied to the day and time of day, but not to a specific time.
This post is especially what makes me think that. You're right that a more flexible schedule is usually more convenient and pleasant for everyone involved. But there are many autistic/AuDHD people which simply cannot deal with that. Those people either follow their rigorous schedule, or it's not possible to do tasks at all. I understand that that's very frustrating and doesn't seem to make sense to other people. But it's a reality.
Also, these very rigorous schedules often reflect that other things in the autistic person's life seem out of their control, so they feel the need to control other aspects. It's the attempt to make an unpredictable world slightly more predictable. Autism characteristics often change over a person's lifetime. The need for routine often becomes more intense when there's something else going on that challenges us.
Just because, generally-speaking, many autistic/ADHD people COULD lead "normal" lives with marriage, children and jobs, that really doesn't apply for everyone. There are many factors at play there. For example, I can work and be in a happy relationship, but children might very likely push me over the edge. It's not a question of trying hard enough. In fact, trying harder and harder would, at some point, cause me to regress and be able to do much less than I started with, because it causes burn-out.
Now, on the other hand, there's also initiative and willingness to make things better and contribute to a relationship/a joint household. That's needed so that things can bet better. If you, the husband, don't feel like you are able to do anything at the moment to try to make the situation better, then that's a statement too. Then you, OP, should take that as a fact and think about what you want to do.
Your posts make me think that there's a lot of resentment, frustration and lack of understanding from both sides going on. It's too deep to get solved on a forum.