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I don't think the teacher who runs the school/environmental education center would get into power struggle with five year old children over group activity participation.

Actually...I would advise against Waldorf for a child like this. While my kids have not gone to Waldorf schools, I am personally familiar with them and they are rather more dogmatic and rigid than they appear. There is a lot of complex philosophical structure behind the seemingly natural/hippie Waldorf environment, and their basic beliefs are not friendly to an academically oriented young child.