Mostly,
The behavior therapist contracted by the school told me to drive them to within a 1/2 mile of the school and make them walk when they were really really bad. We did that once. Now, we make them walk up the really steep hill in our neighborhood to the bus stop in the morning if they are bad on the bus. The behaviors have definitely scaled down a bunch.
My oldest now has an IEP and a mild Autism diagnosis. They are putting him in a social skills development curriculum and the school is also going to give him one day when he can do all his work by typing (which is a huge relief to him). Between that, Gifted, and OT, I think we are getting somewhere.:)