momma_unlimited: I hear you on the socializing front! It feels like a *lot* of work with my DS1, too. I end up going on a lot of "field trips" that don't involve socializing just to meet his need for something different to do, without the stress of monitoring and "helping" him socialize. Luckily, we live in an area with many "field trip" opportunities.
I have also done the rough grab thing with DS1. At the time I do it, I feel like nothing else is getting his attention. It helps me avoid doing that if I try to think of it from his point of view, but not every single time.

Kudos to you for doing such a good job when pregnant. I am very cross when I am pregnant, and found gentleness extra difficult.
webjefita: I really like your response, that "It's my job to take care of you." That puts the "who knows best" argument to rest. The thing I have done when DS1 "knows best" is say "Do you feel like you know more than DS2?" Of course, DS1 responds, "Yes, I know a lot more than him." I respond, "Yes, you have learned a lot more because you have lived for almost three years more than he has. Now think of how I must feel. I have lived 32 years more than you!" It gets him thinking, even if he still disagrees with me!
Thank you for the alternative perspective on the helping issue. You are right. I should rejoice. And I am happy his nature is to help. I am sure it is hard to imagine from your perspective why I would complain. But it is a both a blessing and a curse at this age... for example, we have a playroom in the basement that DH has been refinishing for over three years. The reason? DS1 has to "help" with every.single.thing. If DS1 is in the house and DH begins working, DS1 will do everything in his power to be involved. If DH wants to get anything dangerous or intricate done, I have to take DS1 out on errands. It's true that I don't want to hinder DS1's desire to help... but right now when it's time to finish a project (in our house full of unfinished projects) I feel like

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Another update:
Yesterday was not the greatest. But rationally, I know it was because DS1 was overtired from a long day outside on the previous day. It was hot and humid in the afternoon, and I was going to let the kids wash the car to help cool off and get something done at the same time. They were excited. DS1 wanted to be in charge of the hose, but inadvertently sprayed DS2 too harshly several times, but DS2 kind of shook it off. DS1 needed constant reminders to be mindful of where other people were standing relative to the spray. Every time DS2 used the hose, DS1 would say "That's enough. Stop." and try to take it from him. I asked DS1 several times, in several ways, to share the hose. In retrospect, his lack of sharing was really annoying me, and I think it put me in a negative mindset toward DS1 though I didn't recognize it at the time. Later DS2 inadvertently sprayed DS1 too harshly, and DS1 *flipped out.* I gave hugs and then said that getting sprayed was part of washing the car, noting that he had sprayed both DS2 and me several times already. But DS1 wasn't ready to let go of his anger and he started doing little mean things to DS2 and pretending they were accidents. He also said he thought I should lock DS2 in a room upstairs so DS1 could wash the car alone. Fast forward 15 minutes... I ended up roughly grabbing DS1 by the shoulders and speaking sternly and firmly in his face, saying I didn't like what he was doing or saying to DS2. DS1 ended up clinging to me after that while I gently told him and DS2 four stories about people letting go of their anger even though they felt justified in their anger (one was from the excellent book, Zen Shorts). After stories, it was like DS1 was a new man, and completely free of his anger toward DS2. BUT - I want to get to the gentle story-telling *without* the stern words-bordering-on-yelling/rough shoulder hold thing that I did first. Hmmm. What can I do to get from us being riled up and closed to each other's ideas to us being cuddled up telling healing stories more smoothly? Or even avoid the riled up part. I need to think about that...