It sounds as if he's sensory seeking. I wonder if it would help him to wear a weighted vest. I have to remind my son about 'bubble space'. When he starts consistently needing physical contact, I have him use a sensory strategy. Right now, his favorite strategy is having his huge stuffed dog on top of him (got the dog at costco). Sometimes, I need to give him a firm, extended hug to give him the pressure he seeks.