My son was not on the spectrum and had this problem! I mentioned it to his doctor and he prescribed a nose spray, sorry I don't remeber the name of it but it worked great! after he started it he did not wet the bed anymore. His problem was he slept too hard and didn't wake up.
It's not normal unless it's normal for regular kids. It takes longer to potty train our kids but they are trainable. After all we can train a dog this skill and our kids are a lot smarter.
First take your child to the doctor to make sure there's no medical reason. If that is eliminated, then you need to start doing some troubleshooting. There's some good books out there that will help you. But shaming your child is not a good idea. Have a nice loving talk with him to see if you can find out why this is happening. If it's just that he's a very sound sleeper, there's some pads on the internet that will wake a child when there's even a hint of moisture.
Has the doctor checked out his bladder? Maybe he sleeps so hard that he just can't wake up to go? I wouldn't say it's 'normal' but it's not uncommon.
@CBP, a lot more common than you think. It is just one of those taboo subjects that no one likes to talk about, for obvious reasons. Many times, they just sleep so deeply that they don't awaken when the need to go.