Yes, the origin of the drawing he was referencing was in bad taste, but OP wasn't directly going against Jaiden and her boundaries but rather poking fun at the creator of the drawing and to show how ridiculous it was.
@Rollercodezter I think you're allowed to joke about the sexualization of autism and downplaying of asexuality since, as you said, you are autistic and asexual. However, this does not shield you of making jokes that are in bad taste. This feels that way because, again, of the origin.