Hi, this sounds difficult for you and I am sorry you are going through this.
I wouldn't try to get at the problem directly, my suggestion is that you look into
"intensive interaction" on YouTube. I think your son cannot understand "socially unacceptable"
until he has some "social" that he feels he wants to keep.
I hope this helps
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Self-diagnosed with dyspraxia which has messed up my social life, my family, my work, and my home for a long time. I am ready for it to leave.
"From there to there, from here to there, funny things are everywhere!" Dr Suess, One Fish, Two Fish