(1) Let them stim while they talk to you. This can help them concentrate and stay calm!
(2) Speak clearly to help them understand
(3) Make sure that you have their attention before you launch into something important.
(4) Remember that you're not the only one getting frustrated. Autistic people don't "do it on purpose", and they can't help many of their idiosyncrasies
(5) Don't get mad at them for their communication attempts. Some autistic people love to talk passionately about their special interests