Definitely get a new lawyer! Inexperienced lawyers are not only worthless, but can do damage. I'm writing from very expensive experience.
Ask here, and do some phone interviews, but find someone who has experience with types like your ex as well as kids on the spectrum.

Here is a Crisis Line & Safe House to call near Thomaston. (Phone number can only be seen by the question and answer creators)
They have lawyers that know what to do.

You can contact that police station and talk to the sergeant or chief. Explain your situation....that you called....and his step-father showed up...and now there is no report on file. They will have to ensure that he creates one or is investigated for faulty police work. They don't allow their officers to get away with everything they used to, anymore. If that doesn't fix the problem...threaten to go to the local news. They hate bad publicity...and it will create a record for you via news footage.

Im sorry I think i read ur question wrong.But u can always show that he is unfit for visitation or if by some stupid reason he does, get it supervised.Like i have said before get proof of things(telephone calls videos taped conversations).Well i hope all goes well.Please keep me posted

Document every occurrence. Keep a running journal with dates, times, what happened...and what the triggers were. Compile any police and/or medical reports you may have. All of these things will be crucial when you get to court.