It depends. I haven't heard of him licking anyone's arm again. He does change his mind if you can convince him. Otherwise, he is just going to be inappropriate in novel ways, because he can't tell what inappropriate is. Also, if he disagrees that something is inappropriate and you fail to make a convincing argument as to why it is, he will not change that behavior.

Short of calling it a diagnosis, those are all hallmarks of ASD, which you should recognize if you have ever dealt with such people in depth. If you haven't, consider moderating your judgement.