Here's an article from last year (cited in the research that is covered in the articles OP cites) that tries to review and critique the existing research --
In sum, both carrying out and interpreting studies of prenatal acetaminophen exposure and child neurodevelopment are extremely challenging. The research landscape on this topic continues to show a picture of a modest association between prenatal acetaminophen exposure and neurodevelopment in children, with a suggestion that more intense and prolonged exposure is associated with larger effect sizes, but that very little residual confounding would be sufficient to explain observed effects. This is of particular interest in studies where the effect estimate is reported as an odds ratio, which systematically overestimates risks, especially when the outcome is not rare.
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7259542/
I read this as basically, yes, there's some connection, but it's really hard to tell how large the effect is and whether it's significant -- seems to be most problematic for women who are taking it regularly (e.g, those with chronic pain conditions or possibly those who have pain associated with the pregnancy like bad sciatica). Taking a Tylenol a couple times when you have a headache or pull a muscle is probably totally fine -- taking multiple pills every day because you have a chronic pain condition is probably problematic and you should maybe explore alternatives during the pregnancy.