First of all, I do not think you could home school him. Especially since you posted " Im considering home schooling him after my own school, or there are bad days where I just want to walk out."
You two would be butting heads all day.
Did he ever attend daycare? How did he behave there?
Does he play with the children in the neighborhood? How does he do with them? If he is going to someones home can he keep his hands to himself, can he use his inside voices?
When was the last time you had his hearing and eyes checked?
He may be intelligent, but he is lacking self control. Not totally unusual but he should be able to stay in his seat at school with everyone else.
He certainly should know he cannot walk out of the classroom. Does he walk out of your home without your permission?
Children thrive on schedules and structure. Do you have a good daily schedule at home on a daily basis?
He may need to be reminded about expected behaviors before each transition for a while. Be detailed. Time to get up, remember to go potty, then wash your hands and brush your teeth. Then put on your school clothes. You have 15 minutes.
Come have breakfast, you have 15 minutes until we leave for school.
In the car, remind him to listen with his ears, to raise his hand and wait for the teacher to give him permission to speak.
Remind him that you know he can follow the school and teachers rules.
Do you remind him before going to a store how he will be expected to behave? Do you reinforce this? How? Can he go to a story time and listen with his hands in his lap? What are your rules and expectations when you all are out and about in public?
Can you go anywhere with him and know he can behave properly? If he starts to fall apart, how do you handle him?
You need to know your child well enough that you can explain his behaviors.
Examples
He cannot stay seated for more than a few minutes, so I let him stand to eat the rest of his meal.
He is easily distracted if he is not told what is going to happen.
He does best if he can sit with his back up against a wall..
Whatever it is you know works for him. will help the teachers understand where he is coming from.
I promise they want him to be successful, but if he is an attention seeker, a child that is easily distracted, a child that does not have self control, This is important information they need so they can work with him.
He needs to be able to listen, to follow directions, to have some sort of attention span and be able to verbalize what he is feeling and what he needs.
Hang in there. It is a transition for him, but with all of you working together, he can be successful.