I’m very confused

Hello people of Reddit, I need help, I have communication difficulties, I am not good with people and I struggled with understanding them if they aren’t straight up.
This guy, I met up with him once about 8 months ago, he often messaged me asking me to see him again, once a week at least, but mainly 3x times.
But he doesn’t show he is interested enough? I don’t really understand people and I don’t understand if he likes me, his conversations are very bland.
So today, I was at the local park, and I was bored, so I decided to meet up with him, he lives 5 minutes away from the park.
We met up,he is still there with his boring conversation, and you might say it’s on me, but even though I have autism, I am very good at making and holding conversation, but his conversing skills where very awkward, he was just awkward, now this is where it gets very confusing, we was making a joke about his penis, so he decided to grab my hand and put it on it? I got confused and pulled away, and then he got even more awkward and looked away, but I am still into him, so I leaned in and kissed him, we started kissing, and it slowly led to us touching up each other, and then it ended up with me sat on his lap making out, and grinding on each other. We was doing that for a good 2-4 mins, and then he pulled away saying “I’m getting too hard for this”, this is where I got really confused, what does that mean? He pulled away from the kiss, and then he looked at his phone and started saying he needs to go soon as well, (I said I don’t have much time, and I need to go soon earlier as well),see the football match.
I don’t understand what happened afterwards, it was all a bit of a blur, but yeah it ended after that.
I don’t really understand his intentions and what happened, I’m very confused.
I am also worried about him not being into me, as well as him just wanting to have sex.
Can someone please help me?