It's a tough situation but as daytripper says, the only possible outcome might indeed be to be kicked out. I would have to weigh what the lessons are there vs. pulling him out (despite his protesting) proactively.

The only other thing I can see is trying to teach your son about understanding/guessing what someone is really saying, vs. the exact phrase they use. For example, if the adult says "stop kicking with your knee," what are they really wanting you to stop? Making noise by hitting the table... etc.