The first, and perhaps the most important, is the difference between misjudging your audience and refusing to accept that you've misjudged your audience. I'd have been absolutely fine with RMS apologising for misjudging the audience and accepting that he may face similar audiences in future and adjusting his act to cope. He's given no indication that he's going to do so. I don't think anyone expects people to be perfect all the time. But I do think that the community expects its leaders to be willing to accept that they've fucked up and do better in future. If they're unwilling to do that then they don't deserve to be the community's leaders, regardless of what else they've accomplished. Implying that people with Asperger's are unable to tell the difference between these two situations is a significantly further stretch than I'd take. The response to "I'm offended, please don't do that again" does not require empathy.
Secondly, I take grave offence at the accusation that I'm transferring my own issues onto the people that I worked with (voluntarily and unpaid - I think clients is the wrong word here). How many people with a professional diagnosis of Asperger's have you spent a significant period of time with? Where did you gain the professional qualifications that allow you to correctly position RMS on the autistic spectrum? What basis do you have for accusing me of describing these issues incorrectly and having a faulty understanding of what people with severe levels of Asperger's face?
I suspect that many people would be happier if you stopped implying that Asperger's is equivalent to being unable to say sorry. If individuals want to offer it as an excuse then that's their prerogative. Offering it on behalf of individuals is as insulting as me accusing you of being able to understand my position because you're fundamentally sociopathic. Neither of us is qualified to judge what socio- or psychological disorders are present in others. If you want to persist in this argument then I'd strongly suggest that you find someone with more experience than general folklore to guide you in it.