This exploratory study, framed by the Contextual Model of Learning, sought to define the personal context of autistic visitors and their families attending a sensory-friendly natural history museum event as a science learning experience. The study focused on the motivations and expectations for visiting the museum, as well as how the inclusion of a VR tour could promote inclusivity by better meeting the needs of these visitors and their social support groups. A single case study design encompassing five family participant groups that varied in age, family composition, and diagnoses was employed. Data collection involved a pre- and non-identical post-visit survey, complemented by a post-visit interview. Results indicate that important features of the user experience with the VR museum tour included clarity of exhibit text, lack of audio, the ability to measure exhibit features, easy navigation, and enhanced museum accessibility. Autistic family groups used the virtual tour in three main ways: (1) to prepare for specific exhibits, (2) to prepare for sensory experiences, and (3) to build anticipation and set expectations. Two key features of the virtual tour supported users' preparation for their museum visit: the absence of crowds and noise and the ability to zoom in and see exhibit text and details. The results highlight the positive impact of a VR museum tour on autistic individuals and their families and offer crucial insights into the personal and sociocultural contexts of autistic museum visitors and the potential for promoting unique, inclusive, and collaborative forms of science learning.