My SN kid still wanders around his bedroom until very late every night. To be honest until they are tired you cannot physically restrain them or put them in every 5 minutes.
What I do:
Make sure there is a very good morning routine and no change at weekends. So that their body clock gets set.
Stair gate on the bedroom door.
Completely child proof the bedroom. Windows, items etc.
Install video type child monitor so you can see them. I have to put this outside the room looking in!
Pack away stuff in bedroom that isn’t great for them to do at night.
Read them a story. In bed, last thing.
Get a safe night light that attaches to the bed - it isn’t bright enough for out of bed activities but it is bright enough to sit in bed reading or drawing.
Give them books, drawing, or other calmer toys on their bed for them to do as they unwind. Whatever they like.
Tell them, you can either go to sleep at say 7.30pm, or you can go to sleep at 9.30pm but sit in bed from 8pm only doing a, b, c.
After bed, let them run around in the bedroom a bit. Don’t go up straight away, let them get a bit out of their system. Then go up, stand outside the gate to their bedroom and say, ‘you must go to bed, if you don’t I will switch the bed light off’. Ask them if they want a hug? Then do this only when they’ve got back into bed.
Expect them to get out bed a few times. Don’t stress. Don’t get cross. Just keep going up.
To be honest my kid needs to move around. He just does, until he falls asleep. So I do get him to go back in say about 3x every night. But I don’t stress, I don’t get cross.