Request: etiquette instructions for neurodiverse teens

Looking for books that target (1) teen person and (2) parents which go over with a fine tooth comb how to navigate basic social skills.

I'm looking for something with as explicit instructions as possible, such as "when someone gives you something, catch their attention, make eye contact, and speak in a loud enough voice to say thank you".

I need something with troubleshooting involved such as, what if they're not looking at me, what if the environment is loud, what if I have my mouth full, what if I've already said it and they didn't hear. I need the instructions to cover things like "what if I'm supposed to follow two conflicting rules".

Basically explaining human customs and manners to bodiless angels who do not learn from observation and whose minds are pure intellect wholly sufficient unto itself, and who need to expend energy and effort to interact with mortals on our plane and operate on our dimensions.

Basics like, how to pass through a doorway when someone is holding the door for you, how to move out of the way when someone is coming towards you on a narrow sidewalk, how to pull over a shopping cart so it doesn't block other shoppers, don't throw/toss things at people when they ask for you to pass an object. These statements have been repeatedly shared with them any number of times to no avail: they're not looking at the world in the same way at all. They're not situationally aware, they're not interested in the world.

I grew up in a world that just screams at people until they behave out of fear and forced compliance. I'm trying to find a different way. Thank you kindly for any recommendations or suggestions.