Communication development is closely linked to how the nervous system processes sensory information. The two are not separate. Communication does not happen apart from the body.
In a real sense, communication is itself a sensory process. It asks the brain to integrate information from many systems at once: seeing faces and gestures, hearing speech sounds, sensing the body's position and movement, reading internal signals. Long-standing work on early communication describes it as a deeply embodied, shared activity built from exactly these channels (Trevarthen & Aitken, 2001).
So when sensory processing works differently, communication may develop differently too. And these sensory differences are common, not occasional: a meta-analysis found them to be a core, consistent feature of autism (Ben-Sasson et al., 2009).