WDW's Guest Assistance Card?

Yes, the card allows 5 people to accompany the card holder. I use it for my son who's autistic also. Nobody else in your party is allowed to use it. They write the card holder's name on it. What you can do is use the card with him to the attraction and then not have him ride since he didn't want to, but the other kids do. I also recommend getting a fast pass when possible for rides you know he won't get on, but the others want to. That way you're not using him all the time to cut down on wait time.