Yeah, I'm not too worried personally. I've encountered people who felt belittled, or maybe even infantilized, by having things explained to them. I think, ultimately, it comes down to understanding each individual's personality and how they respond to information. As well as not being rude or disrespectful, of course.

I feel like

find it condescending and insulting to have the reason for something explained to them, if [they already understand the reason]

can apply just as well to neuro-atypical people as to neurotypicals.

I don't think this has to be too complicated though. Don't explain the reason unless it's super unobvious, or unless they ask for a reason. If they do ask for the reason, give it in full and without judgment.

a sizeable proportion of neurotypical people

Are fucking dumb, yes.