I would have to ask the name for sure but my DD's speech therapist is using a "Picture Book of Social situations" that seems really cool. Maybe something like this would work?

Say the one about "Don't be a space invader", talks about how to respect peoples space in very very simple terms and has pictures showing the right way and wrong way to do it. It can be used for kids with many different reasons for not responding appropriately with others. It does sound like it could very well be sensory.

EPGY OE Volunteer Group Leader