Tip Toeing

My two-year-old son has speech therapy but no OT. He has few words but not clearly spoken and not consistently. He flaps and tip toes when excited. He might have sensory issues, but I dont think he has SPD. He is not clumsy and does not have problem in climbing or running. He is pretty active at times. I want him to stop flapping and tip toeing before he turns 3. I dont want him to be diagnosed with Autism. He flaps and tip toes but I dont think he is Autistic. I know he wants to talk and he communicates with us through signing and pointing at things. He responds to our emotions and plays well with his toys. I want him to stop tip toeing soon, any advice? Can a balance beam help?