I am not autistic, but my son is and I do not stop his quirks, with the exception of his what I call “leap frogging” in the early morning hours as it shakes the house when others are trying to sleep, or in parking lots, heavy traffic areas, stairways, bathtubs, etc. due to the safety issues that it presents. Otherwise “leapfrog” away. I also let him have his other quirks that others say I should stop. They’re not hurting anyone and they keep him calm and happy.

As I’ve seen you say what his quirks are in the comments. These are called Stimming. Stimming is a regulatory tool for autistic people, the sensory feedback our brain receives from the movement/action can help us cope and prevent us reaching overwhelm (which is when a meltdown/shutdown may occur). As long as the stims aren’t self injurious in nature (such as banging his head on a wall etc) there really isn’t anything to worry about. It’s a positive that he’s found a way to help himself cope.