How do I not make people uncomfortable or come off as a creep

I (14F) had a very long conversation with a friend about how I come off as creepy about my crushes and how I express it, as I tend to say things about fantasies (not anything nsfw but it comes off that way, and sometimes I do say too many nsfw things). She told me that everyone who she talked to about me thinks I'm a "horrible, disgusting incel who needs to go far away from women" and that I'm fucked up in the head. The reasoning is because of how I talk about people sometimes and how many inappropriate things I say, whether it be jokes or comments that aren't to be taken sexually. I have a big problem with boundaries and I'm trying to be a better person, I don't want to be a creep and I don't want to make people around me uncomfortable. Please, I need advice on what I can do to make sure I'm not creepy and how to ensure that I remember boundaries.

Also, I do sometimes struggle with things like boundaries and social cues because I am on the spectrum, I'm not blaming my problem on that but it is something that hinders my ability to act normal.