IMO Not if the friendship is wrong, especially if you have explained that you dislike small talk previously.
I’ve often sat in silence with my best friends, which may sound odd but sometimes it’s nice just to be there - even when there isn’t anything to say. It’s these friendships which are the strongest IMO.
Unfortunately there are no rules that I know of, this kind of thing is something you have to learn or guess, which I understand can be difficult, especially for autistic people.
It depends how well you know the person, I’m a drama student and because of the nature of my course I know everyone to some degree (that’s about one hundred people) most of these the most I’ll ever say is just ‘hello, how’s things?’ unless we have something specific to discuss.
Because of the nature of my work, I never ignore anyone who I might have to work with, and always make the effort to say hello. Often with those I’ve worked with in the past, but don’t consider close friends - we’ll make small talk, mainly about work ‘How’s the essay, are you ready for the exam?’ that kind of thing?
Of course because of the situation we’re in, at University, there is always something I can ask about that we will both have in common.
I understand some autistic people have trouble recognizing facial expressions? this might make it difficult to gauge how long a conversation should go on for.
The best advice I can give, if you want to make small talk, if you know something about the person, ask them about that, if they’ve just been on holiday or someone in their family is ill. Otherwise pick something you both have in common.
If you really can’t think of anything to say, just say ‘Hi’ and leave it at that. I don’t think you’re going to destroy any friendships.
Practice on some of you’re friends, and see how they react, they might be able to give you better advice in person than I can over a message board anyway.