I also have [very mild] Asperger's. I don't have the motor skills issue [I do, but mine was from carpal tunnel 30 years ago, not Asperger's] I just have the 'social skills' end of the scale, combined with a need to always know where my keys are.
[BTW, I treat it lightly because I got through the first 50 years of my life before anyone thought to actually give it a name - way too late for me to actually worry about it;)
First thing is to not think about what you can't do, but what you can do. Then progress to what you will do. You basically have the same hill to climb as everyone else. Learning to play any musical instrument is hard, especially in the first few years. That's why most people give up. They never feel like they're up to the skillset of people they hear on the radio.
There's good reason for that - they've either been doing it a whole lot longer, or fall into that really rare but annoying category of "people for whom this is easy". That's not a common category, but by the time any player has bubbled far enough towards the top to be noticed by the general public, they're already in the 99.99th percentile.
Any new player is not only 5 or 10 years behind that curve, but also being forced to listen to people who can do it already, just to make them feel worse about it;) That's the point at which you do not give up.
Stop playing it on your lap. All you can ever learn that way is a set of bad habits it will take longer to unlearn than it did to learn.
Get a strap, stand up. Yup, that's harder as a beginner, but it does reduce the tendency to look, mainly because it's harder to see. It also makes your wrist feel like it was never designed to reach over in that way - but every time you see a guitarist on TV… that's just what they're doing. They just had longer to learn & get used to it.
Nobody hits the right string without looking to start with. Even a normally-able player will find it much easier to play simple strumming patterns for the first year or so, rather than making their pick hand find the right string every time. Many people also struggle with not only getting the fingering for each chord, but being able to swap to the next without stopping to look. It's as though the human hand was never really designed to form those shapes. It can do, but it takes a couple of years before it feels like it can. For single note melody lines, you're also wondering why the heck someone designed it so there's two frets between some notes but only one fret between others; then you have to change string & have to concentrate all over again on what your other hand is doing. Then you discover one string doesn't fit the same pattern as all the others so you're one fret out.
It's a nightmare. Who on earth designed it this way? Are they just doing it out of cruelty?
Nope. It actually works best that way - but you're still playing catch-up to the people who figured it out before you.
Think about catching a ball. The set of complex mathematical equations needed to describe that is actually really, really difficult to do. A human just 'guesses'. You don't work out the numbers, you use experience. After a while you can do it, experience forces behavioural patterns into the brain which can "just catch". Ask anyone how they do it & very few people could explain it.
This all comes with practise.
You don't really have to force yourself not to look, you just find that over time you need to look less. If you find some nice simple song with only a few chords, then you can ease yourself out of looking every time by pretending you're performing to an audience - so you have to face front & sing to them.