Have just read the whole thread and I must admit I was feeling a bit like Nicki about the OP's continuing negativity. I was thinking that the OP has had a lot of fantastic, compassionate and constructive advice on this thread and yet doesn't seem to be processing it or addressing the positive steps she can take to improve the situation.
Then I looked at the date of her OP and realised that she only posted this thread yesterday afternoon/evening! I can see now that it's she's got a massive amount of info and suggestions to take in here, amongst a couple of hundred posts, and that the thread is moving very quickly.
OP it sounds like you are totally ground down by this and are locked into a cycle of negativity with your boy. It also sounds to me like a lot of his behaviours could be coming from a deep insecurity about whether you love him/he is 'worthy' of your love - the negativity about himself and his abilities/achievements, the jealousy of you showing attention to other children, the negative attention-seeking.
I recognise a lot of what you describe in my DD, who is 12 and has Asperger's. She was (and still sometimes is) very jealous and disliked me paying attention or compliments to other children. I recently got a bollocking for calling her friends 'darling' and other generic endearments which avoid me having to remember their name
because she thinks only she should be my 'darling'.
The sensory stuff all rings big bells as well. DD's behaviour on days out was often challenging because she was overstimulated by the noise/sights/scents/social signals/expectations of her. She couldn't recognise when she was getting overstimulated and needed to calm down, so her behaviour wold deteriorate. I too have been locked into negative cycles with DD at some points where my perception of her and her behaviour just spiralled down. Getting her AS diagnosis (and recently mine) has helped enormously in understanding her and why she is how she is.
You've had some brilliant advice on this thread, and I'm not adding anything new here, but I'm asking the following questions because they are what jumped out at me as particularly pertinent points that I wished you'd adress. 
When you praise him, do you give a fairly generic 'that's really good' or do you find something specific, like 'that tree you've drawn looks very realistic'?
As a pp said, commenting shows that you are paying attention but isn't as overwhelming as 'great job!' sort of praise.
Why are you going out with other children/families so much if he doesn't seem to enjoy it? He's interacting with other kids at school, maybe he needs time off from that at home?
Are there any situations with other children where his behaviour is better? One-on-one, structured activities, going for a walk etc?
Do you acknowledge that your negative perception of him (whilst totally understandable) is likely to be a self-fulfilling prophecy as he will be picking up on your feelings about him and subconsciously reacting to that?
How does he behave with his dad? With other family members?
Have you tried him in a sports/structured activity club? How is the competetiveness and tantrums at not winning then?
Have you considered a martial arts club for him? Channel the competitiveness and aggression, reassuring rules and structure, learning in a formalised way how to interact with others, often male sensei experienced with this (common) behaviour in kids this age.