3 years old? I would guess he still takes naps during the day? You might try cutting them out or shortening their length. A soothing bath before bedtime might help also, water play often relaxes an active child. you might consider making his bedtime later too. The massage is a good idea, our 12 yo Aspie son still asks to have his back rubbed some nights when he has difficulties falling asleep. Aspies often have sensory issues, Z cannot sleep with a sheet over him but will snuggle down with a very soft blanket or comforter without a problem. Changing his sleepware might help Z would take a shirt off before age two and will not wear a shirt to bed even on extremely cold nights.
Does the child have nightmares or Night Terrors? If so you may need to consult his Pediatrician. Z does suffer from Night Terrors but let's save that discussion for later.
These are just some suggestions. Kids, all kids, this age are still unknown variables that can often be solved only by trial and error. If it works stick with it, if not try something else.
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Aspies, the next step in evolution?