I certainly sounds to me like he doesn't like the carseat. You said yourself that only the 5pt system has prevented escape. So he doesn't like being restrained or he is having sensory issues with parts of the carseat. That's my take on it, anyway. I work in early intervention with children who are on the autism spectrum.
Is he verbal? It sounds to me like he is trying to interact with your other sons but doesn't have an appropriate way to do that. I'd be happy to think of some activities that he could do in the car with your other son that would keep him occupied but if he's bothered by the carseat then that may be causing him to be overly irritated in his interactions.
Is he verbal? It sounds to me like he is trying to interact with your other sons but doesn't have an appropriate way to do that. I'd be happy to think of some activities that he could do in the car with your other son that would keep him occupied but if he's bothered by the carseat then that may be causing him to be overly irritated in his interactions.