I highly recommend the book:
The Way Of Boys (Promoting the Social And Emotional Development of Young Boys) by Anthony Rao, Ph.D.
Love, love this book! Cannot recommend it enough! Read it, then you be (and feel) more relaxed and ready if you do have him tested and/or screened! Many children, whether diagnosed with "something" or not, can benefit from some behavior modification therapy!! It's nothing to be ashamed of or fear! Your son ultimately needs more time to develop in some areas! Most boys need more time to mature/develop)
My adopted son (5yrs) has been diagnosed ADHD, Not a big surprise for us because both sides of his birth family have huge histories of ADHD! I was ready for it since birth, have been arming myself with information since then and have done behavior therapy with him and have all his doctors(ie: his Ped, Allergist and Pycharitrist) on board and in the loop! It's not been a walk in the park, he can be exhausting even when he is behaving, lol! Yet most recently he has made HUGE strides in his behavior and his maturity! He's "getting there" and I couldn't be more proud!!
I do have to say don't feel like you HAVE to get a diagnoses!! He is still young!
I know our INTENSE children can be so exhausting but help is out there! Stay strong, arm yourself with information and have a "team" of people to help you!!