This sounds totally appropriate to me.
There are a lot of really harsh judgements on this thread.
I'm an adult SLT who works with learning disabilities, so not the same group at all, but there are some things that spring to mind and I don't want to just scroll on without commenting..
Being aware of your boy's
-physical needs- huger, thirst, tiredness etc
-communication abilities, how is his communication normally and how does he let you know he needs something?
-sensory needs, is he letting off enough steam, or being overstimulated by something? Is there too much noise or activity at the times he is getting heightened behaviours?
- transitions are likely to be a big one for triggering stress, they often are. A visual chart may help, or a timer, with verbal warnings frequently about when an activity will end and what is coming up next. There is a website called global symbols where you can make visual supports for free. You would then make a wee visual timetable and take off each thing as it's done, highlighting what is next with pointing and speech to support.
-how is your daily schedule, too busy, too quiet?
-any people or places that trigger anything in particular? Is he needing attention or help to regulate himself?
We use ABC charts to look at what happened and what the behaviours were, they can be useful for mapping out potential triggers and things that help/hinder (though it sounds like you actually have a pretty good grasp on what helps) and I guess if you went down child psychology route they may do similar, so might be worth mapping behaviours so you can see about identifying triggers.
The dog safety issue is definitely one I would be really careful about. Saying that our almost 3 year old son can be a right menace at times with our dog, who he loves, but can just randomly decide he is going to be a horror for fun, so you're not alone.
The cuddles etc sound like they help regulate your child. Consistent boundaries and letting him know the behaviour is not ok but that you love him and are there to support him sounds totally ok to me. People advocating physical violence and strict methods haven't read recent research!
There is a time and a place for ignoring behaviours but I would never advocate for physical discipline, only removal and restraint from an unsafe situation until they calm down.
There is a book I personally found useful called "the book you wish your parents had read", I feel like it might be useful, for your husband in particular maybe. Helps identify our own thoughts and beliefs around parenting.
Good luck x