Thanks for all of the responses. My DS is in a class with other children his age. I guess I'll check out sensory issues since that seems to be ringing a lot of bells here.
As far as why he doesn't have friends in his class - I really don't know. He likes people, especially adults and older children and he does really well with them. I don't know why younger kids are harder for him.
Sometimes he genuinely doesn't want to go to school "because it isn't really fun" and other times he's perfectly happy to go.
Thanks also for the book recommendations. I really appreciate everyone's feedback.