I have a 6 year old , he's never slept out for the night because he freaks out and screams. We trust my parents to take him overnight but every time we have tried he cries and screams so much that he won't sleep and he just keeps everyone awake so I have to come get him. He cries and cries if we ask him if he wants to try to have a sleepover again and he has fun the whole time until it's time to go to sleep then he says he misses me and can't sleep unless he's in his bed.

Any advice or do I have to let him grow out of it ? We didn't try to do sleepovers when he was little because it was never necessary but now that he's older I have a concert we want to go to that will run very late and we can't go because he won't sleep out and he cries so much my parents don't want to watch him at night because of it.