We have this with my 7 year old at times as well.
We implemented some sensory things - body brushing and weighted blanket -I swear it helped with cutting down bedtime from 1.5 hours to 10 minutes (or less!!).
He also hates that I "get to tell him what to do", esp after me teaching them about how it's your body, your life kinda things.
So now we do this:
Every 12 weeks or so we re-evaluate learning goals/activities/extra murals. They choose what they would like to do (only rule is 1 x academic, 1 x sport 1 x cultural activity are compulsory - you choose which).
Once they have chosen they are committed for a reasonable time period - eg Tae Kwon Do, a reasonable time period is 2 colour belts. For music it would be at least one book of the violin/piano etc. Committed means lessons, homework given by teachers, practice to fit your personal goals.
They set goals for their intended outcomes per subject/activity. Together we break those goals into smaller measurable steps and formulate a work plan to help reach those goals.
Weekly they then acknowledge what needs to be done, and then daily I/they write a list of what they need to do. Usually I do it once they are in bed and when they wake up they see it in the dining room. Everything is listed and has a tick box. So even if the goal is "build x LEGO item" or "swim 3 laps" I put that in. They can add more stuff if they want. They don't have to do all the things on their list - but certain things like screentime, outings, playdates, sleepovers are determined by personal drive to meet your own goals.
For now this is working well for us. We do follow a more ecclectic/unschooling approach so it means we have a total mixture of workshops, courses, online, outing, group etc things that we do.
It is only now that with our 7 year old we are trying to decide if we need to push him a bit more - through the perfectionism a bit to actually help him be a bit more self reliant in terms of learning.
*must add: he will be starting auditory processing therapy shortly - I am sure that his sensitivity to sound affects his ability to focus on more complex learning*