Hi Deany
I think there are a number of things we need to think about.
I think that what you're describing is a situation in which the expectations at home and school are different. A prime example is the issue of jumping in muddy puddles which is great when there's just you and your ds, but when it means that a TA has to take time out of supporting the class, then it has a far greater impact. The trouble with differing expectations is that they can be confusing. The fact that it's ok to do something at home, but not at school takes some children longer than others to take on board. I think you've been very honest about those possible differences, and need to discuss them with the teacher. Whilst I don't believe that all children should be shoehorned into identical boxes, I can also see that it would be difficult for the teacher if your ds behaves exactly the same at school where he is in a class of 30 (?) as he does at home when he is in a very small group and has a great deal of adult attention. In a class of 20 or 30, there does have to be a certain amount of conformity in order to ensure that all the children are safe, happy and make progress.
Some children just are "fiddlers". They cannot concentrate unless they are able to fiddle with something. I'm one of those people who listens much better if I'm allowed to doodle. If I'm not allowed to doodle, I simply switch off. I have taught many children who had a piece of blu-tac, or a unifix cube, or something similar to play with while we were on the carpet. I found that it aided their concentration immensly.
Also, some children learn better when sitting on a chair, or at a table, or beside an adult, or next to the teacher. I don't really understand any teacher's obsession with having all the children on the carpet, all sitting cross legged etc. One of the brightest children in my class spends most of her time at the back of the room, sitting on a cushion in the book corner, often with her feet in the air! However, I know she's listening, and I know she's learning. She's not disrupting the other children, which she certainly would be if I inisisted that she came and sat on the carpet.
I suppose this is the crux of the matter. Is what your ds is doing, disrupting his own, and the learning of the other children?
I'm interested that the school insist that he has no special needs, either academically or behaviourally, and yet, they are unable to meet his needs. How much do you feel that his behaviour is impacting on his progress academically, or more importantly, his ability to make and sustain relationships. My concern would be that if the other children are pointing him out as the "naughty boy", that there will come a point when they will avoid playing with him, for fear of being included in his perceived misbehaviour.
I would ask for your ds to be referred to the Educational Psychologist, so that an appropriate professional can rule out the influence of Dyspraxia, Dyslexia or ADHD. I know those words sound scary, but there is a continuum for all of these, and your ds may have a trait of one or all of them (or none of them).
You refer to the school as being full of "practically perfect" children. This may be another reason why your ds's behaviour seems to stand out. I'm pretty sure that in my school, he would simply fit in with everyone else (and I mean that in a very positive way )
It does sound like your ds has a lot of energy! Have you considered any kind of physical after school or weekend club which will have the double benefit of supporting his physical skills, whilst also helping him to develop his listening skills and ability to follow simple instructions.
I don't know whether any of this is helpful or not. Come back and talk to me some more and I'll try to be more helpful!