Try to get him to play "hot dog" to give him some deep tissue pressure. Get some heavy blankets, mats or clean rugs, and big pillows or stuffy toys out. Put him in the "bun" (one of the big blankets or a rug, and roll it up around him). Then add "condiments" like pickles (pillows) and mustard (another blanket). Roll him around on the floor in his bun as you add each condiment. This worked great when my son was 3-5. We started doing this because he would charge into people like a bull to get the sensory input he needed. He hurt a lot of kids and adults because they weren't expecting it and would fall down. But finding other ways to give him that input (the hotdog game, lots of back and foot massages, even a weighted vest or lap pillow) helped him stop seeking it in other ways. Massage his back, shoulders, neck, and arms (if he will let you) when you can. Even when just standing in line, sitting and playing, putting on clothes, and getting ready for bed. You might also want to try to get some compression clothing (shirts, leggings). I have found them at Target. They help reduce his input-seeking behaviors.

he's probably hypo sensitive to pain and his environment, like seeking out things that would hurt him? it sounds like he is trying to achieve an obstacle course of perfection and who better to use as role models than those types of animals. I would suggest trying to take control of the obstacle course yourself, however if he is like mine and strong-willed and in charge of his play.. then my suggestion would be to try and play outside at the times he is prone to playing this game, or showing him how to do it safely by modelling yourself going through it. What I wound up doing was removing items from accessibility that led to this kind of hazard. he gradually learned to play with this stuff as intended to keep it part of his play.

that was helpful to me as well. thanks