pepsi - think our situation may be quite close to yours, except for the hearing issue - my ds (who's nearly 6 now) has been tested (because he does have very "selective" hearing) and doesn't seem to have problems there.
My ds is just lovely at home - thoughtful and mostly sensible, if very dreamy (& the selective hearing thing), amenable, cheery; and the most caring, involved, big brother to dd (who's 4 and a half) that could be imagined. He's nice in restaurants, with adults, on shopping trips, in the car, on one-on-one or small group playdates ... and so on.
But his school have real ongoing problems with his behaviour - ranging from concerns about his oddities of speech, frustration at his lack of concentration, to real worries about (rare, thank goodness) physical outbursts - punched a little girl in the stomach "because she wasn't my friend". The school did ask us to have him see an ed psych, so we did: and although it didn't give us (or the school) any real answers I really would recommend the experience - it gave us another, very informed, view which was - very importantly - hugely enthusiastic about ds's good points, and supportive of how we are trying to help him.
So whether or not our boys have SN or are ones with a very immature sense of group dynamics (and which will mature in its own time), I would say there is everything to be gained by having someone knowledgeable and sympathetic (ie a good ep) give you another perspective.
Sorry about length. I hope this helps. Happy to talk further about how to pick an ep, if you decide to go with that & have a choice.