8 year old with boundary issues

DS is starting school next week, up to now he has been home schooled. We have had a lot of problems with him and boundaries. He is constantly wanting to hug and hang on people. Has your child had this problem being that age? He is just not catching on to the idea that he shouldn't do it. Any suggestions? Thanks ladies

Cora is 4 but is the SAME way

In fact we just got home from her Psych eval and becasue of the social boundry issues, and a few other things, they want to test her for autism