Have either you or he tried a martial arts class? I say this not knowing your son's level of executive function.
My kid has ADHD and is very large. Before he was properly medicated he was pretty rough with his dad and I. We have had him in a defensive martial arts class for many years. The class has lots of people in varying levels of the neurodivergent spectrum, if you want to call it that. Autism, ADHD, and other different people. I think most martial arts classes these days are like that.
We have seen a definitive, steady climb of his ability to control himself and be respectful. He also knows how to put someone in a safe, non-harmful hold if they come at him. This is why I think it could be helpful for you, too.