Is that about the "virgin of EMACS" joke from, what, 15 years ago now? Sure, it was silly and I personally wouldn't have said something like that, but come on... This doesn't make someone an asshole.
Let's just accept that whatever is going on in RMS's head to give so much for free to the rest of the world comes with some rough edges, and there's no way to get one without the other. It's a fair trade.
As someone who is on the same boat: he's been asked to, and offered help with getting, counseling and behavioral therapy to help him see how he can improve his social skills. There's being an awkward socialite and then there's actively not working towards success.
It's fairly well known.
Here's an article on it: https://twitter.com/twcnewsletter/status/1453376624666112003
Echos and anecdata:
I don't see any reason to accept it wholesale - picking his feet I can tolerate, blatantly obviously unacceptable social interactions with other people should not be tolerated: these are a skill that can be learnt by people who care, autistic or not.
Note that RMS says he doesn't have autism.