This just sounds so hard. Seriously. It's great that you make the attempts to have a safe trip to the playground. Even if it ends in tears for both of you, you try it. You straddle that middle ground and attempt to let him be that kid who doesn't have limits. You do this till you can't manage it anymore, all the shouted warnings and all the worry, and then you go home. But that you do it at all is enormous. And generous. He has a great mom.