Do you have any children who act out when they are free playing?

If DS4 is not engaged in any kind of structured activities, I can almost certain to find him misbehaving (e.g. climbing on the basketball hoop, terrorizing his younger sister, etc). He is especially bad when we are outside - I was talking to his doctor when he sat down on the floor and took his shoes off and acting silly.

He has no problem concentrating if I give him structured activities – crafts, practice writing, do worksheet, Lego, but he is so wild up when he is free playing.

Any advices on this? TIA