When I homeschooled I had my son participate in a homeschool PE program sponsored by the county parks and rec dept. And in another town there was a program sponsored by the city parks and rec for homeschoolers that was a combination nature and crafts program...they hiked or had some sort of extension program (like the zoo might bring some small animal for a talk or the museum, it was different every week) followed by a craft. They had to listen when appropriate but there was plenty of time for conversation and friendship development. In both of these programs the children were divided roughly by age groups...older kids in group one, middle age in group two and youngest in group three so that the activities could be tailored to the groups. Then afterwards in both groups we stayed later for another hour of free play. Playground for homeschool PE was right there. Sometimes with the nature/craft group we had to reconvene at the park.
With that and scouts...it was enough for my son.