Tiptoe walking at 5 years old

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My son is on the waiting list for an autism assessment.
He is increasingly tiptoe walking. Does it all the time barefoot and started to do it in shoes a little.
He is able to put his feet flat but prefers not to.

Is this something we need to try stop? Or seek medical advice on?

Perhaps just stretching exercises to help his tendons?

I would look at a physio referral.

My DS got checked out by physio when he was around 4, to see if his tendons were tight (they weren’t). Does your DS walk normally/conventionally as well? If so I wouldn’t worry too much. With my DS, I did not actively discourage the tiptoe walking (which he clearly preferred), but I did put him in ankle boots (when we were out and about) which reduced the tiptoe walking a bit.

I have tiptoed since 2. It still is the most comfortable way to walk for me. No lasting damage and I can walk flat footed.
I have slightly hyper mobile joints and if I'm flat footed my knees turn in. My sister over very hypermarket and has the same but to correct hers she rolled her foot over and her knees and hips suffer.
I do a weekly pilates class and that helps my legs stay straighter and a more normal position.
My mum took me to the Drs as a child as I could walk flat footed they didn't do anything but this was the 90s. I think a few physio sessions would probably have been beneficial. I don't if this would be an option now