I think what you describe as friendship, I might just refer to as acquaintance.
To me, a good friend is someone I can take my masks off with and just be me. If I can't take my masks off, then the relationship is definitely going to consume more energy than it produces, and it's going to be exhausting.
Most of my current few friends have known me since before I knew I was AS. They are a few special people that had already accepted me without my masks anyways. Telling them I was AS made no difference to them since it didn't really change anything. I don't think we are any more of a burden as a result of telling people who we are, at least not to the right people.
My newest friend I told I was AS fairly early on as I figured it would make it easier for her to understand some of the quirks. Again, she accepted it readily, and after many examples, is gaining new understanding of how that affects our interactions. Her understanding has allowed me to see very early on that she is another very special person.
I work on my communication style with acquaintances. People I meet randomly here or there. Friends of friends, or just daily interactions with the same people more than once.. They are good for such practice.