Young adults with ASD experience difficulties with social skills, empathy, loneliness, and social anxiety. One intervention, "PEERS® for Young Adults," shows promise in addressing these challenges. The present study replicated and extended the original study by recruiting a larger sample (N = 56), employing a gold standard ASD assessment tool, and examining changes in social anxiety utilizing a randomized controlled trial design. Results indicated improvements in social responsiveness (SSIS-RS SS, p = 0.006 and CPB, p = 0.005; SRS, p = 0.004), PEERS® knowledge (TYASSK, p = 0.001), empathy (EQ, p = 0.044), direct interactions (QSQ-YA, p = 0.059), and social anxiety (LSAS-SR, p = 0.019). Findings demonstrate further empirical support for the intervention for individuals with ASD.