4 year old and endless energy

So my 4 year has autism and adhd and an endless supply of energy. His autism is just level 1 so he is completely verbal, there is no cognitive delay, and he is on the same developmental/academic track as his peers. His autism mainly manifests as having very specific interests/obsessions and a lack of self awareness. Anyway, this endless energy has gotten worse and worse the older he has gotten and I can’t seem to satisfy his sensory seeking needs. He goes to preschool all day, has OT, and then afterwards is still needing high sensory activities. He usually wants to go outside which is fine because we have a huge yard and play set and things for him to do. HOWEVER, around 5pm I need him inside with me because 1) my 2 year old is tired and ready for dinner. He’s also cold 2) I need to actually cook dinner 3) I’m exhausted myself and genuinely want to be inside because it’s fucking cold 4) I have indoor chores I need to tend to. He CANNOT be left outside unsupervised because he has no concept of danger and safety. He fights coming inside SO HORRIBLY. Y’all I can’t even explain it. He runs. I have to physically drag him in kicking and screaming. I’ve tried-

Incentives

Bribes

Explaining to him I need to make dinner for him and his brother

Discipline (taking away privileges)

Soft transitions like getting closer and closer to the door

NOTHING WORKS and he screams so hard about it he throws up sometimes. Today he ran off down the street on his bike screaming bloody murder and my neighbors were genuinely concerned. It’s embarrassing truly.

When we finally get inside his behavior is insane and he just screams and throws shit around because he’s mad. I know he wants to be outside but he does not seem to get we can’t be outside all night. He just never wants to relax or chill. He’s in school, he’s in OT, he’s busy from 8am until 4pm and that’s still not enough for him. I don’t know what else to do. I know part of it is that he’s tired but he will NOT nap or lay down in bed or on the couch. He stopped napping a long time ago.