My 5 year old ds was/is the same way. He has gotten a little better but is still very timid. I just tell people he is shy when they try to talk to him and he is what you could say is rude but he is just being himself.
I remember we took him to an amusement park when he was 3. We thought he would really love it. We were there every bit of a very miserable hour. It was awful. He was so overwhelmed.
That is one reason why we decided to not send him to kindergarten this year. We thought maybe that would just give him one more year.
Just let him be himself. Maybe he will come out of it a little bit

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