When I tell stories I want to be detailed; but I have learned that people don't want the full story and prefer summaries. Summaries so short that I more or less have to reinvent the scenario in order to get my point or question out and paid attention to.
No. If you are having this problem, either autism is a lot more subtle than I thought, or you are just bad at summarizing. I have noticed that most people are very bad at this. I am not very good at it myself; I have a tendency to give a whole lot more detail than is absolutely necessary, which turns people off.
Since it's not the complete truth; it's a lie
That is not how it works. Here's how it actually works: let's say you didn't do something because of some other thing, which was foisted upon you by some other person. When someone asks you what happened with doing the thing, first you just say "I didn't do the thing." Then they ask why not and you say "Well, this other person interfered." And then when they ask how, then you get to tell them the next part of the story: They interfered with "action". Oh really? How did they "action"? Well, they did this and this and this thing (only give the names of the things the did.) Then if they ask for more detail on those things, you give the detail.
Remember playing Ultima back in the day? You'd talk to an NPC and they would give you a sentence or so with some keywords in it. Then you'd use one of those keywords to get more information. This is how people actually talk! Well, to be fair, a lot of people don't talk this way. They talk like they do in J-RPGs where you get a wall of text (press X for more...more...more...) and that shuts people down because it is not particpatory. If I want a wall of text, I'll pick up a brochure.
Lying isn't black and white
Yes, yes it is. What you say is either true or not. That's black or white, period the fucking end. There are many, many ways for a statement to not be true, and only one way for it to be an unbiased description of what happened — don't say things which aren't true.
You have to interpret how much and what information a person is looking for.
That has nothing whatsoever to do with telling lies. If a story changes because you're summarizing it, you're shit at summarizing.