This is our first year homeschooling my eldest daughter. My son is in public kindergarten. He sounds similar to your son in some ways, and there was just no way I could envision having him at home with me all the time. He is LOVING being at school, is making friends, is keeping up great with the work and learning things that he's resisted learning from me. I think it's absolutely the right place for him now.
Yes, my heart breaks a little bit when he returns the pink sticker that his little sister picked out for him at the doctor's office, saying that he just can't wear it at school. Or when he comes home and seems withdrawn (that happened the other day, I was SO sad). On the positive side though, it's helped me to make more of a point of doing things together that he enjoys. He seems to enjoy our time together in a way that he didn't used to. As his language is (finally) exploding, we're able to talk about a lot of the things going on for him at school. I'm hopeful that being raised in a home with 2 sisters will help counter some of the crazy cultural boy things.
As he's developing and growing, I'm seeing glimpses of the big kid he's going to be. I like those glimpses, and wonder if homeschooling might work in another year or so.
We do lose some of the flexibility that we would have had if he wasn't in school. But with his soaring self-confidence, exploding language, and joy on his face as he heads into school, it's totally worth it.
Lastly, I see all of our schooling as a year by year arrangement. If school becomes a struggle, we can pull him out. If his confidence suffers more from being in school than outside of school, he'll come home. If he asks to come home, we can talk about that and have him stay home. Nothing is permanent, and as long as I keep that in the forefront of my mind, I feel pretty good about our choices.