I have Dyspraxia and was not diagnosed until I was at Uni.
I also coped well at school (hence late diagnosis) but began to suspect dyslexia when I was around 14. Parents didn't listen to my concerns because school hadn't raised issues so I was not able to get assessed until I was at Uni and parents didn't get a say. The report came back with Dyspraxia -which I had never heard of - and when I started looking into it, first I was confused because all I found was pages about kids not being able to ride a bike but when I got to better information I found I suddenly understood myself.
The first thing I would say to you is that Dyspraxia is MUCH more than just motor skills. It is such a misunderstood condition which leads to under diagnosis which means those of us living with the condition often do not get any support.
It's great that your DS is coping very well in school, but if he has DCD then it will not just affect academics, it may affect multiple areas of everyday life which may not become apparent until he is older and more independent.
I would love to send you an info pack I wrote on Dyspraxia for the college I work at, but I can't see any way to upload attachments to comments. So instead I would advise you to go on dyspraxiafoundation.org.uk and have a look through all of their fact sheets so you can understand the other ways that DCD can manifest outside of motor skillls. (I'm currently trying to get my 15yo sister assessed, I printed my info pack out and gave it to her with a highlighter and asked her to highlight anything she related to. You and your DS could do something similar). He doesn't have to have a every single sign/difficulty, just because his hand writing is neat doesn't mean he isn't dyspraxic. I mean, I have very few issues with motor skills and coordination (and those I do have I didn't notice until after diagnosis) and many people think that is all Dyspraxia is.
If, after finding out more about the condition, you still believe that DS may be Dyspraxic, I would recommend going to the GP and asking for a referral. And don't let them fob you off -they often do due to lack of understanding.
The earlier the diagnosis the better because when DS starts to notice that he may not learn new skills as quickly, or will realize a joke/sarcastic comment two seconds after responding seriously or has to empty his school back to find the right book or will trip over his own feet or he gets frustrated because he knows exactly what he wants to say but it's like his brain and his mouth won't connect so the words just stop (that got very specific there, sorry that's just the most frustrating of my difficulties 🤣) he will have a reason why. He will understand that he's not and idiot or a moron or socially inept. That reason is important not because it will affect how he copes in school but because he will not blame himself or develop a negative opinion of himself. And he will be able to put strategies in place to help himself.
(And if does start having difficulties in school when he gets older, having the diagnosis means getting him any support will be easier).
If he is Dyspraxic, don't worry. Dyspraxia isn't a bad thing. Dyspraxics can be amazing creative thinkers and problem solvers, because our brains don't always go in a straight line. There's a video about adults living with Dyspraxia on YouTube and it says "employers always encourage thinking outside of the box. Most dyspraxics have never found the box." Thinking in different patterns gives you a unique perspective, and whilst it may cause difficulties in some areas, it can make you so much stronger in others.
I hope this mini essay has been somewhat helpful.