My 5 year old learns to ski through an adaptive ski program where he has a lead teacher and an assistant. This year, the assistant was a young man with a disability similar to G. I don't want to presume he had Asperger's or autism as I didn't ask, but their communication style was very compatible. G really liked his assistant teacher and spoke of him often - it was an incredibly positive experience.
My son (AS) got the 'mean' teacher for kindergarten this year and is thriving. Seriously, one mom was crying on the first day of school because her son got this teacher. She is strict in that she has high expectations for all her students, has very clear classroom rules, doesn't make exceptions to these rules often, and is extremely consistent in her routines. She's not the stereotypical cuddly sweet kindergarten teacher, but she is perfect for G.
The first time I realized I have some autistic symptoms similar to G was when the autism specialist was trying to explain how G's eye contact (which I thought was fine) was not 'normal.' She tried to show me what would be appropriate by example and I found I could not sustain eye contact and that the more she stared into my eyes the more I wanted to jump out of my skin. After that, I realized I have a handful of similarites to G and my husband has a handful of others. Now when we're trying to figure out why G reacted badly to a given situation we put ourselves in his shoes and see which one of us might feel uncomfortable and why. It doesn't always work, but I'm surprised how often it does.