I homeschooled my adult son from 6th grade on. He graduated at 16, and went on to college. I also have an 11 year old and 6 yr old twins. We've homeschooled them all along, but next year we are sending them to public school.
My 11 year old is autistic. We've taught him social skills intensively, and most people can no longer tell he is autistic just by talking to him. He is behind academically, but he can now hold his own with minimal help in the "outside world."
In addition, we just found out a few months ago that the local junior high school has an entire wing of classrooms and classes that are directed towards kids with mild to moderate autism. He went just to look around, and he really liked it.
If I could, I would continue to home school. But my husband is disabled, and he needs a lot of care. I also have begun preaching every Sunday, and that takes up a lot of time in prep work.
My oldest was extremely social when he went to college. In fact, when he was 17, he had a 24 year old woman ask him to go clubbing with her. She thought he was at least 22 or 23. He laughed for days about it. He gets along equally with young kids, people his own age, and older adults. Socialization is only a fear for those who don't homeschool. I haven't met one yet that was "unsocialized."
But there are always exceptions.