In this chapter, I will explore autiqueer experiences of BDSM. I will focus on desire for authentic wholeness, communication as the invocation of lust and also how to develop a terminology for BDSM practices that align with autiqueer experiences. I will use an autobiographical method combined with feminist and intersectional analysis with the aim to invite the reader to view BDSM from an autiqueer standpoint. There is a growing interest in knowledge production about autism and sexuality, but existing work primarily focuses on autistic practices of conventional sex and dating. Very few of them venture outside of that scope to explore autism and queerness. A possible reason for this relatively narrow focus might be a misplaced desire to avoid a pathologization of autistic sexuality. However, using an overly simplistic description of autistic sexual desires offers more harm than protection. It adds obstacles where there could be a curious, exciting, nonjudgmental, and autiqueer exploration of sexual practices anchored in appreciation and care for autistic experiences of bodily input, emotional responses, and mental states.