Norton specified "150 cc of SAE 20" oil for the Commando forks. The PR specs called for 180 cc of "Castrol CRI30 (SAE 30)" oil for the same forks. Another PR reference called for SAE 20 oil in the forks, with SAE 30 for particularly bumpy circuits. I tried both on my PR, and generally used the 20 weight. Other service manuals call for SAE 10-30 or SAE 20W. Note that these are all engine oil grade specs, which do not necessarily apply well to fork oil. You may find that if 20W engine oil works well, you could need anything from 15 to 30 grade fork oil to get the same results, depending on the brand of fork oil used. That's not a bad thing. It just means that if you are experimenting, you should probably stick to one brand of fork oil to play with.
ATF is generally considered equivalent to 10 weight fork oil, and too thin for stock Commando forks. That doesn't mean you can't use it, but it won't work as well for really spirited riding, or for racing. A fairly common mod for racers back in the day was to braze the stock metering orifices closed and drill new, smaller holes, sometimes also relocated, and use thinner oils, like ATF. Sometimes they also modified the fork internals to take an o-ring seal in the damping tube cap and use another drilled orifice to get a more consistent rebound damping. Probably not worth the effort of the typical Commando street bike. The Commando forks actually work pretty well stock, at least compared to other period forks.
Another reminder. Fork oil does wear out, and should be changed regularly. I think Norton recommended it every 5,000 miles. Judging from forks I've taken apart, not many owners followed that advice.
Ken