A common challenge for people on the autism spectrum with intellectual disability, is indoor navigation and related daily activities, as found in previous research. In this paper we report on co-design of assistive augmented reality applications, where the goal is to help people on the autism spectrum to gain more independence in their daily lives. This study is based on initially two full-day workshops with staff only, followed by ten individual workshops with the end-users and their staff at day centers, using a mix of methods and prototypes. The results show a clear potential of augmented reality as assistive technology for indoor navigation, depending on individual capability and/or complexity of environments, as well as for other activities. We also found that new barriers may arise, which are discussed for future research.