I think you have hit the nail on the head saying they are keen for you to do what is "normal" - you and your DS need to decide what is normal for HIM and how he can reach new goals in his own timeframe and without being in pain.
I am not a soft touch by a long chalk and I can't stand whingeing from my LO when we are walking but I like to think I can tell when she is genuinely tired and then I carry her!!! My dh will say oh why are you carrying her and it's cos, well, I'm the mother and I know when she's too tired or in pain, and I need to help her.
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