Not sure what to do about my work situation

So I am Autistic I work at a blue collar job. I have been working there for 2 years, six months in my current postion. I am struggling with this job. there are certian parts of it that I stuggle with it. that's not the bad part though. I have a coworker who gets easily frustrastrated. he get upset with me all the time, and he makes comments like " is it really that hard" and you have been here 6 months." the other day I accidentally damaged something and he made a big deal about how I ruined someones day. He says he is mearly trying to treat everyone equal and he does not mean to hurt my feelings. I am afraid to go to HR for fear he will get fired. I am actually afraid to tell anyone at work, partely because as a man Im taught to to toughen up and handle criticism. Im considering switiching positions because of it. the supervisors all say im doing a good job. but i really feel like this job doesent fit with me. the problem is I am afraid to admit to my supervisor that my coworker is talking like this to me and it's causing me stress, Im worried he will be perceived as bullying me and get fired. what should I do? my Mother described some of what he said as abusive. and I have a hard time accepting that. hes quite kind to everyone.