Sounds like you and I are at about the same points in our lives. My son is 5, Non verbal, fearless and ever ready, it was like you were describing my Max.
I’m looking to make the transition from off Roading to overlanding (or at least generating a good mix of both) and want to make it as smooth a transition as possible. Not sure if you run into this, but change is HUGE when it comes to Max. Does not like it one bit. Fortunately he loves anything with being outside and in the Jeep (soon to be a Bronco), so I’m hoping he takes to this. Between his mom being a medic on an ambulance and myself (at the time) driving tow truck 24/7, he got a taste of bouncing around in vehicles from the womb on. I can load up on a Saturday morning, toss him in the rig with me and we can take off for 12 hours without an issue (we’re half way there on the potty training. #2 is still a work in progress, but we actually got our first trail side #1 last weekend. Huge proud dad moment!), so I’m hoping we can transition to an overnight/weekend/week travel trip smoothly, a little bit at a time. I know it’s different for everyone on the spectrum, but for Max, as long as he has a couple toys from home, his favorite stuffed animal and his staple of trail snacks (red vines, popcorn and Gatorade), he’s a trooper all day. The biggest obstacle for me is going to be figuring out how to cook pizza rolls on the trail .
I wish you the best of luck,I really hope it’s something you’re able to overcome and enjoy with him, and feel free to reach out anytime, questions, advice or just to chat. Ausome dads have to work together!