In my case, they certainly did. When I was a young child, I was denigrated by teachers because my writing was scribble from "Dysgraphia".
My mother, as kind as she may be, used to grab me very forcefully(By the neck, as I was fidgeting with items) and repeatedly tell me "Do you hear me!?! If people see you doing that, they will think you are men-tally retar-ded!" while shaking me and shaking the item near my eyes. She used to tell me how embarrassing it is to have an autistic son who fidgets with items as a form of stimulation.
My grandmother would often ask me to do things for her. I obediently tried to follow her instructions, and received denigration as a result. She would yell at me and say things like "Look! Use your eyes!"(Because I was anxious and had visual processing issues), "Did you hear me!?! That isn't the way I told you to do it!"(When I would drop things or make mistakes because I was sweating and anxious out of fear of upsetting her).
My father used to frequently denigrate me(Which sometimes included hitting me) when I would visit him and say "Why are you so shameful? You should be ashamed. Your cousins are better than you." because I had severe social anxiety and could not understand social cues well. He told me I was "doing good for myself", which was true whenever I would avoid asking him for food or to stay in the house alone(Afraid of me touching his things). He also would force me to visit my grandmother(His mother) so she could "criticize" me whenever I wasn't "doing good for myself".
The psychologists in group therapy largely disregarded the obvious signs of ASD I had, which led to me being denigrated by them and other youth because I wasn't performing to their expectations. The second time, however, was much better than the first.