I had a child who did this - he was three and a half. Pretty fine all day, then his pick-up person would arrive and he ran all over my house, played on the stairs, etc. His pich-up person was not the same day-to-day, so anytime I discussed with with them, I would have to repeat myself every time it was someone different.

I got to the point that if he misbehaved at pick-up, he would have a consequence at my house the next day, immediately upon arrival. It worked like a charm! After a week of missing free play in the morning and sitting at a table, we had no more issues at pick-up.

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