Henrietta grew up surrounded by FBI, which made her childhood interesting, to say the least. She was definitely with her mom more than her dad, given that Penelope was able to work from home while Derek had to travel with the BAU. 

Her dad made sure that she knew how to protect herself, and her mom made sure she saw the beauty and joy in the world around her. Henrietta always tried to see the best in everyone, but she knew how to push back if she had to. 

Henrietta was diagnosed with autism in the sixth grade. She was good at masking, like most girls, but there were eventually signs her parents couldn't ignore and they got her tested. Not much changed except that she now had a word to explain all the things that made her odd, and it allowed her to get help in school.