Short answer: Yes.
Modern estimates of global prevalence for autism are around 1-2% (for systematic reviews, see Baxter et al, 2015; Chiarotti & Venerosi, 2020). Prevalence rates appear stable across countries, age groups, and probably time, though there is a great deal of variability between individual studies. Virtually all data is from countries in the "technologically advanced" category, as data for lower-income countries is lacking.
To figure out the proportion of autistic adults who don't know that they are autistic, we just need the number who already have an autism diagnosis, known as the "administrative prevalence" rate. While population prevalence is thought to be stable, administrative prevalence has been on the rise for over 20 years. Determining the administrative prevalence for adults has turned out to be a significant challenge, as the number of different agencies (medical, support, assistance, insurance, education, etc) under which adults may be registered as autistic is both vast and uncoordinated, and there is a paucity of studies looking at adults at all.
One study that I was able to find that both managed the Herculean effort of coordinating these independent agencies, and also specifically looked at adults, is the Pennsylvania Autism Census Project (2009):
In 2005, we counted 1,421 adults with ASD who were 21 years of age or
older, just 7.1% of the total ASD population in Pennsylvania.
... By 2020, the adult ASD population will be roughly equal to
Pennsylvania’s entire ASD population, children and adults, in 2005.
That is, this study estimated that in 2005, only 7.1% of autistic adults knew that they had autism, based on current diagnosis rates for children expected to become autistic adults by 2020.
The 2011 Scotland census, reported in Rydzewska et al (2018), provides a more direct approach, asking respondents directly to self-report on their autism status. In this census, comprising 94% of Scotland's population, 0.2% of adults 25+ reported knowing that they were autistic. Compared to the estimated prevalence of 1-2%, this suggests that about 10-20% of autistic adults in 2011 knew of their condition.
Another study of Northern California by Croen et al (2015) found autism in 1507 out of 1,578,657 insured adults, an administrative prevalence rate of <0.1%. Given a population prevalence rate for the same region and time period, from Windham et al (2011), of 0.47%, this suggests that about 20% of adults with autism knew about it at the time (using a more recent prevalence of 1-2%, it would be more like 5-10%).
A primer on autism by Lord et al (2020) also says:
... in high-income countries with strong ASD public health policies,
there is evidence that ASD in adults goes largely unrecognized ...
most people in the world who are autistic are adults , and ... many of
these individuals have not received a diagnosis of autism ...
Finally, population prevalence estimates generally source data from epidemiological "population studies" that sample directly from the general population (rather than a known patient community or population subset). A population study of adults in England by Brugha et al (2011) found a number of autistic individuals in its sample, and asked them if they knew that they were autistic:
None of the cases found in this study had previously been given a
formal autism assessment or diagnosis.
An extension of this study found a significant number of autistic individuals living in communal care, or registered with learning disabilities. This brings up the final point that I'd like to make.
The above studies seem to suggest that the majority of autistic adults are unaware of their condition, and are therefore unsupported. However, this is unlikely the case, due to diagnostic substitution: Essentially, prior to increased awareness and broadening definitions of autism, most autistic children were instead diagnosed with other conditions, such as intellectual disability, language disorders, learning difficulties, and so on. The phenomenon of diagnostic substitution in autism is well illustrated by this graph (source):
So while most autistic adults are unaware of their autism, many of them are receiving support and care under different labels. And, as the increasing number of children being diagnosed with autism over the past 20 years become adults, the number of adults unaware of their condition will decline accordingly.