Research supports the notion that raising a child with an ASD diagnosis contributes to parental stress (these parents are generally more stressed that parents of children without an ASD diagnosis), and the child's communication skills and other behaviors are a big factor in this. Parents of ASD children do, however, tend to enjoy their kids as much as average parents, and Resilience can protect parents from the stress associated from parenting ASD children.
See: Pastor-Cerezuela, et. al. (2016), Parental Stress and ASD: Relationship with Autism Symptom Severity, IQ and Resilience.