My son was fully dry during the day at around 5. However, he is 8 now and just started to be dry during the night. We found that waking him at the same time each night to use the bathroom helped set his "internal clock". The daytime training was a bit tricky because it was hard for him to "feel" that he had to go. (I've heard adults with autism say the same thing). However, I do remember noticing that he would stim A LOT when he had to go so I started making him use it when I noticed it.

Yes but u still have to keep up the routine... until they get better..,

My neurotypical son was almost 4 years old. My mother in-law helped with that. He stayed at her house for two weeks. My youngest was 4 almost 5 years old. PECS helped a lot. His preschool teacher and paras used it at school and I followed up at home. It was during one of his after school ABA sessions he peed for the first time in the toilet.

My son learned to urinate at the age of two, however bm, at the age of nine.

I was just under two, I believe. I don't like the feeling of my clothes being damp, though, so it would make sense that I hated the feeling of a wet/dirty diaper!