Limited research has explored the experiences of caregivers and their children with autism spectrum disorder (ASD) in medical settings. A qualitative meta-synthesis of studies published between 2000 and 2020 was conducted to understand and summarize the challenges faced by caregivers, their positive experiences, and suggestions for improving medical care. Themes were generated related to caregiver challenges, positive experiences, and suggestions to improve medical care. We suggest additional training of medical professionals, an interdisciplinary approach to care, more support for caregivers, and increased adaptability of the medical environment. Implications for practice, limitations, and future research directions are discussed to ensure the highest quality care to support the needs of children with ASD and their caregivers.