I don't know how you are handling his behavior in your current situation, but you may have problems in the future. We had a resident in my neighborhood with an autistic son whose behavior was not well controlled. As the boy got older, he would leave his property and wander the neighborhood. He would open gates, go into the back yards and stand or sit there. A couple of times he went into unlocked houses. This caused all kinds of problems, especially as the boy became a teenager. The police were called multiple times, and there was a lot of animosity. No HOA here, so no "community" involvement.
I don't know whether the family moved or placed him in a living situation appropriate to his disability, but eventually he disappeared. It could have ended badly for everyone, and the neighbors were relieved when that happened.
That is quite scary that the boy was able to get out and wander the neighborhood. Not sure if living in an HOA can make up for lack of attentive parenting / caregiving as I have seen acrimonious non-neighborly interactions even within HOAs (and on issues that do not involve a wandering autistic individual). In our case, it is my belief that acreage will make up for even the loudest and most hyper active individual. So yard size is one absolutely, completely non-negotiable item on our must-have list to ensure peace for ourselves and for our future neighbors.
Not related to your question, but do you have a plan for his care when you pass or are no longer able to care for him? Is there a family member to take over his care? Money alone cannot guarantee his quality of life after you are no longer around.
This is something we worry about, non-stop. None of our family members are in a position to take him in as our siblings are all our age or a little older than us, so unlikely to outlive us by decades. Our daughter will likely obtain legal guardianship and become trustee of his special needs trust after our time, and ensure he is in a good living situation, and manage / supervise his finances. She will not be his caregiver but a supervisor / facilitator of his care. If he unfortunately outlives her or if she becomes disabled or otherwise unable to perform the duties of a conservator / trustee, then it's up to God / Karma / State. There is only so much we can do to ensure his care and keeping from beyond the grave, aside from hope and pray that his sister outlives him and is able to ensure that he receives the best care for him for the rest of his life.