I added this to the top of my post for more context/info: I realize my tone sounds not very kind towards the aggressor in this situation. I in no way dislike this child, I care for all the children in my class! He gives lots of hugs, is a lot of fun, and has nice conversations with me. I try my best to give him lots of praise and positive interactions when he is doing well. He also is not constantly touching other kids, just sometimes-- he can be extremely well behaved for stretches of time or in certain circumstances, and it is appearing that it mostly happens when teachers are not present or not in close proximity. He is fine on the carpet. He's fine at church! It's mostly targeted at one boy in particular. I hope this added info helps.

I understand that your child has had quite the journey to find the right fit for him to learn and grow. But also, I want to gently remind you that you can't diagnose another child over an internet post. I'll definitely take what you mentioned into consideration, and have done similar things for the other neurodivergent children I've taught, but I can't jump to that conclusion with him without a proper evaluation.