There are GACs that can be helpful to your family - putting aside the idea of lines for the moment, you can get a GAC which will tell the CMs that you need to be able to sit in the front of whatever venue you are in.
There are accommodations for those who would find waiting in a standard queue dangerous. I have traveled with multiple people who use the white canes in Disney, and people, in general, take that as a cue to give you a but of space.
We do not post the specific names of stamps on the boards, to cut down on abuse (it is amazing the number of people who cruise forums like this one just trying to get ahead!), but the CMs do not need you to state the name of the stamp anyway.
Be sure to tell the CM in Guest Relations about your concerns with accessing the rides - you cannot handle stairs, you have difficulty going from light to dark or vice verse, etc, and therefore it is dangerous to wait in the standard queue.
Make sure you get a separate GAC for your child with autism. His/her accommodations may be different than yours. I suggest having a GAC for each member of the family with a disability, just in case people split up. A husband CANNOT use a wife's GAC, even if it seems they do the same thing. It may seem like a lot of work to the CM in Guest Relations, but trust me, you will likely save yourself a trip to the front of the park later to get one if your party wants to split up.
There are a lot of great posts here about traveling with an autistic child, so check out some of those for park tips. If you think it would be necessary, you can arrange to take a stroller in the lines with you for your autistic child. He/she may appreciate the "personal space" and it will keep you, the blind parents, from having to keep track of where your autistic child is. Just ask about this at Guest Relation.
Also, I am not sure how much sight ability any one in your party has, but the new Disney Parks mobile app has a GPS feature, so if you have a smartphone, you can actually have hte app tell you are where you are in the parks.
The best way to do the parks in your case would be a good touring plan - that way you know what to expect out of the day.
There is also a device you can get from Guest Relations (for a deposit - I am not sure how much that deposit is) that provides alternate narrative for the blind and visually impaired in an attraction. So, in addition to ride audio, a description of your surroundings will also be provided. I have not used it, and I have heard some mixed reviews, but I am interested in seeing how it works.
No, there is no way to simply skip the lines or automatically shorten the wait time, but there are many aspects of the GAC which I think would be beneficial to you, as well as other tools out there.