Having had personal experience with this problem, there is actually a simple but difficult solution to your problem:

Focus in the effect if the person's action on you, and set hard boundaries for yourself.

Note that boundaries are in this specific form:

"If you do X in Y situation, I will do Z"

The consequence to the instigating person (the Z part) is important. The person you described likely has a deficit in empathy, so feedback on actions has to happen to modify behavior.

Note that I'm not saying to hit back. Consequences are generally best when withdrawing something of value than adding something of negative value.

For example: "If we're watching a movie and you are physically rowdy, you will have to leave the living room and entertain yourself in your room".

Focua on how things affect you, and what actions you can take in response to boundary breaking behavior. Then be ruthlessly firm and consistent about it.

> The person you described likely has a deficit in empathy

Sorry, but I have to correct this because it's a common misunderstanding. It's actually a name collision.

People on the autism spectrum struggle with theory of mind, which is also called "cognitive empathy." We can have difficulty understanding the mental states and emotions of others.

On they other hand, we're often higher than average on what's called "emotional empathy" or "affective empathy." Many autistic people get very distressed when others are unhappy or are suffering. For example, autistic folks are over-represented in the animal rights movements and other movements to reduce suffering.

Somebody who lacks empathy in the everyday use of the word is someone who does not care if others are suffering. That is not a symptom of autism, and never has been going back to the start of research on the topic.