I'm not sure there's much you can do with such short notice. However, if you have time to prepare, virtually every tabletop RPG can be modelled as having structure. Most gameplay structure can be broken down into constraints and options. It seems like Denise required options more than constraints, but I'll cover constraints first.
The (usual) true constraint of a TTRPG is to tell a story that all players enjoy participating in. This is, however, a very difficult thing to accomplish directly (which can be stressful, preventing the players from enjoying the game – a self-defeating objective!), so we normally substitute a proxy goal: telling a particular kind of story, well. (You have to keep some track of whether other players are enjoying themselves, and prioritise that if there's a conflict, but often the person running / facilitating the game takes on most of that responsibility.)
If the proxy goal is to tell a story where the players are in-character, then keeping track of whether players are enjoying themselves can be as simple as keeping track of whether they remain in-character, and resolving to analyse the situation further if they seem to break character (e.g. hesitating when their character wouldn't). A failure mode of this play-style is My Guy Syndrome.
If the proxy goal is to make the strongest character that the mechanics allow, your players are probably going to break a game like Roll For Shoes: getting to level 5 (a 1.6% chance on every level 4 action, if XP is spent: over 50% chance, given 43 attempts) means you can accomplish "nearly impossible" tasks with relative ease. However, choosing setting-appropriate "artificial" constraints for a character, and then attempting to munchkin within those constraints, recovers this playstyle. Perhaps your character is an apprentice lumberjack, and no matter what skills they end up with (according to the system), everything they do has to relate to chopping down trees, the maintenance of axes, or workplace safety, because otherwise they're not getting the work experience required by their apprenticeship contract.
If the proxy goal is to accomplish a particular goal within the setting, less role-playing is required, and ensuring other players are enjoying themselves can be achieved via getting consensus on plans before enacting them. (A culture of light-hearted commentary on other people's actions helps create an environment where people feel more comfortable saying "why are you doing that? it'll do [thing I don't like]!".)
A game like D&D provides each player with a clear set of tools, each with their own established mechanics. Some people find it a lot easier to make decisions if they have this set of tools to fall back on.
Roll For Shoes doesn't provide these mechanically at the start of the game, but there are ways to recreate this. For example, by giving the character starting equipment: a backpack of useful items, or a utility belt – whatever makes sense for the character to have on-hand when they show up at the donut shop.
D&D provides a character creation framework, which is necessary. A simple list of questions (like a checklist procedure, or flowchart) might suffice for a game with more flexible mechanics, like Roll For Shoes.
How can we apply this to the issues Denise faced?
Denise specifically called out "Do Anything" as something that was too unstructured for her.
"Do Anything 1" could be called "easy tasks": it's anything you'd expect a D&D commoner to be able to do. It doesn't allow you to reliably accomplish average-difficulty tasks, and you're not going to be doing anything remotely "hard" using this skill.
Unlike D&D's class system, where abilities (skills, spells, actions) are specific to classes, Roll For Shoes has only one class, and unlocking skills requires using their prerequisite skills. Higher-level skills are more specific, and more powerful, than lower-level skills: this represents aptitude.
Since you gain new level 2 classes by rolling a 6 on your level 1 skill, the actions you take with the "Do Anything" skill should be considered part of your start-of-game character-building. If you decide ahead of time what sort of character you want to play, you can build up to that. (For example, if you want your character to be basically a D&D rogue, you can start with lock-picking, stealing unattended items, hiding behind trees, etc, and build up the appropriate skills.)
This, incidentally, is the approach suggested by DWeird, one of the early players.
If you're willing to tweak the rules a bit, you could give Denise level 1 (or 2!) starting skills in something more specific than "Do Anything". There's little mechanical difference to starting her off with specific level 1 skills, and starting her with a level 2 skill could be narratively-justified. If the other players are okay with it, I'd suggest the latter approach.
She also had trouble with character creation; my prompt of "tell me your name and why you're at the donut shop"
With a character already in mind, it's a lot easier to answer this question. I assume Denise was disappointed about not being able to play D&D: one might ask her what sort of character she wanted to play, and then ask whether she could play a character like that, or suggest something broadly equivalent that fits in the setting of the one-shot.
It's unlikely Denise will be the only player you encounter who has these difficulties with the game. (And maybe you'll encounter Denise again!) If you have time to prepare ahead of time, I would recommend producing a sort of mini rulebook, starting with a description of the rules (including how difficulty corresponds to numbers), providing an example of a skill advancement occurring (what happens in the game, what's rolled, and what the new skill is), and suggesting some concrete approaches (e.g. DWeird's character-building advice) that could be used to get past the "I have no character and no clue" stage.
I would also include a warning that games with new players can get quite silly, as people specialise their characters in increasingly-absurd ways.
Autistic people can take a while to recover enough from distress to be receptive to new information. However, if the distress is caused by not having clear rules, and you provide a document with rules on it, that might make the initial emotional regulation easier.