D..
J., he needs to "touch". A lot. He also has to learn empathy. Not everybody "gets" that, and it's something you need to teach him.
If I were you, I'd take him to an OT for an evaluation for sensory processing. Tell her what is going on. Ask her to teach you a home program for a "sensory diet". He needs this kind of sensory feedback, but he needs to learn appropriate ways to get it. You also need to work with him on what is NOT appropriate and give him stiff penalties for inappropriate behavior.
I hope you will try this. I really think it would help you both.
Dawn