DS is just 8 with suspected ASD, also possible ADHD and sensory processing issues. He's very verbal and super sociable and desperately craves friends and the company of other children but struggles so much to play appropriately even when supervised and closely supported. He needs to spend more time outdoors burning off energy but finding ways he can play with other children is so hard....
He loves detailed imaginative play involving making up games about dragons and knights etc but we just can't find any other kids who are interested in that sort of play 
When we do get together with other kids he constantly touches them, grabs them or their clothing, gets them in body bind bear hugs, chases them down to jump on them... The list goes on and it is all he seems able to do not matter how hard I try to channel the energy into games or activities. He gets all hot and red and zones out a bit, completely fails to recognise when he is being asked to stop (by child or intervening adult) and frequently ends up having to be physically removed from play situations which isn't nice for him at all.
We try to involve him in other games but he struggles to join in a lot of outdoor games (poor coordination and can't catch or kick a ball properly yet) and just about everything we try ends up with him sitting on other children or attempting to turn the game to his current favourite "ultimate takedown" (something he's heard at school, I have no idea where it's from but I'm trying hard to discourage it).
He just wants to play games he's invented but he's so rigid about the rules that they're impossible for anyone to play to his standards. And I don't know how the hell to help him socialise with other children - something he is desperate to do and gets very upset when he can't find anyone to play with or invite to parties etc. He's been like this since he was very young and despite lots of effort I just can't seem to find ways to stop the constant grabbing and touching and squeezing and it's meaning that children no longer want to play with him He's very articulate so I can and do explain stuff to him and he does understand why other children dislike it on one level but can't put it into practice at all.
I know there's no magic answer I'm just having a bit of a weep after another attempt at playing in the park with some friends children (who he knows and likes) was a constant round of me having to police him to stop him dragging them to the floor or jumping on their backs and watching them try to get away from him and how wary they all are of him is heartbreaking. DS is actually very kind and gentle most of the time and none of his rough play is with the intention of causing harm or hurting them but he just can't make the connection.