A study published in JAMA in 2024 concluded that there is no evidence for that claim (https://jamanetwork.com/journals/jama/fullarticle/2817406):

Question: Does acetaminophen use during pregnancy increase children’s risk of neurodevelopmental disorders?

Findings: In this population-based study, models without sibling controls identified marginally increased risks of autism and attention-deficit/hyperactivity disorder (ADHD) associated with acetaminophen use during pregnancy. However, analyses of matched full sibling pairs found no evidence of increased risk of autism (hazard ratio, 0.98), ADHD (hazard ratio, 0.98), or intellectual disability (hazard ratio, 1.01) associated with acetaminophen use.

Meaning: Acetaminophen use during pregnancy was not associated with children’s risk of autism, ADHD, or intellectual disability in sibling control analyses. This suggests that associations observed in other models may have been attributable to confounding.

The 1 study you linked does not disprove the newer 46-study analysis that I linked. Quoting from it:

"We identified 46 studies for inclusion in our analysis. Of these, 27 studies reported positive associations (significant links to NDDs), 9 showed null associations (no significant link), and 4 indicated negative associations (protective effects). Higher-quality studies were more likely to show positive associations."