Over the past two decades, museums have increasingly sought to build connections with the community and increase inclusivity of visitors. At the same time, emerging technologies, such as extended reality (XR) and virtual museums (VM) are increasingly adopted to engage with different generational expectations but also for the purposes of supporting inclusivity and neurodiverse populations. First such technologies were adopted to augment exhibitions in the physical museum space for edutainment. Since then, XR has expanded from room-size environments (CAVEs) and augmented exhibitions to the creation of entire virtual museums, such as The Museum of Pure Form and The Virtual Museum of Sculpture. Digital twins of museums are increasingly common, along with UNESCO World Heritage Sites. Such virtual experiences can be leveraged to prepare neurodiverse visitors prior to visiting a museum. This chapter will outline how existing approaches to social stories and sensory maps may be combined with XR experiences to support neurodiverse visitors and their families. While onsite, immersive technologies can be used both for engagement and to provide accommodations for greater inclusivity and diversity.