I do not believe that one can say that a baby of your son's age is tactile defensive. You need to give him a lot more time and see what happens as he gets older before making judgements like this. Your son seems very bright for his age and appears to be doing well in all other respects, so do not worry now.
Your son gets on well with other children and really seems ready to learn, but it will do him no harm at all to stay at home with you for the rest of this year and avoid the winter months at school this year.
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