Unfortunately parents can't interfere in the relationships children have with their peers.
Forgive me if I'm making assumptions but are you giving your DS space to make his own mistakes whilst being willing to talk them through with him afterwards? Or are you jumping in to prevent/correct? The trial/error approach, like Goblin's DD creating situations to observe, is a really valuable way that children learn.
Please don't give up hope, because social skills can be learned even if it takes a long time. It can be absolutely heartbreaking when a child doesn't 'get' that the things which seem to come naturally to other people and are treated as lepers because of it. Unfortunately it's also very difficult to get other parents to shake their preconceptions.
In fact I have a whole catalogue of posts on here under one of my old names, including the football situation, and got some fab advice, inclduing a couple of books - the unwritten rules of friendship was one I found particularly useful. Another good strategy was role-playing with understanding and not-so-understanding responses. Briefing parents before playdates about your DS's coping strategies that you've taught him, like retreating from the situation physically if he feels out of control if necessary.
Other very wise people told me that next time he ran off with a football I should ask him to think about the reaction and what he could have done differently. So I did and we didn't have the same problem. He said, logically, that they didn't want him to play even when he tried nicely, so he ran off with the football so no-one could play until they let him play too. I had to explain to him the alternative line of logic that maybe there were rules about when he could start playing, that running off with the ball made them upset and maybe next time he wants to play they'll remember that he ran off with the ball so they won't want him to join in and that he should return the ball and ask to join in when it was okay.
Can you identify what it is that he struggles with?