I wouldn't wait to get the toewalking looked at. Yes, it can be a flag of spectrum disorders or sensory issues, but there are also real concerns physically about what that does to a developing kid's feet and legs. I would get that looked at. Sometimes toe walking is just an isolated habit but you don't know unless you get it looked at.
If you have insurance, I personally see no downside to getting started with an OT. I wouldn't decide "it is sensory and that's it", but pretty much everything you are describing has a sensory component and learning some of the techniques might help while you take time to sort out the bigger picture. It can be really tricky to sort out spectrum diagnoses with preschoolers so I would treat anything you hear as tentative information.
