They're both not currently official diagnoses but they mean different things in common use.
"People" do not generally need fear to not do bad things. Some people need fear to not do bad things. Outliers do not define the norm.
Religious people are not less violent or criminal than nonreligious people. See all of recorded history. I don't have data for ASD other than that until quite recently it was under-diagnosed and very poorly understood so there's little value in historic comparison.
Law enforcement looks pretty different across time and cultures but the general through line is not "every person has to be watched lest they descend into barbarism" (despite what thin blue line types would have you believe) it's that an unguarded flock is easy prey. Predators are rare and always have been.
People are naturally empathetic and we aren't the only animals like that. Toddlers have empathy well before they can be taught the cause-and-effect of possible punishment. Altruism is a very valuable trait for social animals to ensure survival of the species. The specifics of etiquette are taught but basic principles of fairness and comfort are in our DNA. Crime and punishment exist because the natural systems aren't perfect, and desperate/traumatized people are more likely to take advantage of others for personal gain. It's worse when society rewards amoral self-enriching behavior, as it does under Capitalism, because hate and selfishness can be taught just as surely as morality is. (Morals and ethics aren't exactly the same thing, and they do differ between cultures, and some pretty heinous things are enforced thanks to religious indoctrination.)
Your claims aren't backed up by any kind of science. And if you think that's a cavalcade of verbal barbs maybe it is your first day on the internet.