Our boys are very like this and if we spend alot if time stuck inside it gets worse.
Im looking into the benefits of fish oil atm.
We have rules and at the moment i ask them over breakfast, what are our inside rules? When we go out- what are our outside rules? and i have a harness and a wrist strap i can use if they try run off etc.
We will continue to stop outings, loose toys etc but i also try when they are really being monkey to change it to a positive. I will leave the room and collect myself, then put some music on and call out- who wants to earn a treat? then together we do something different like in summer wash windows, in winter redo the linen cupboard. Anything not normal that they can get a reward for. Or an extra star on the star chart. We use weekly charts. Eating, shower,sleeping and school mus be done with minimal fuss. Manners and listening and helpfulness. And any hobbies/ pet stuff.
It helps them to know what days are good or not and it often surprises us who got more that week.
Hugs its really hard but you guys aren't alone

Sent from my Galaxy with the barefoot princess covering me in kisses, so please forgive the mistakes