[CRConrad]

No, we just think "I'll get in the car and drive to the hospital, talk to my sick friend, and then drive home by way of the petrol station". Higher-level, but definitely still procedural / imperative. (Then while we're driving we'll think "I'll turn left here" or "I'd better overtake that lorry", or whatever. But we don't need to plan all that beforehand; we do stepwise refinement on-the-fly.)

I think most people think more or less like that, and that it is not "a sign of autism".