I would 1. tell him at drop off what you expect to happen at pick up. 2. remind him of that conversation when you arrive 3. have a consequence for NOT listening 4. give him choices

"Do you want to walk down the hallway or hold my hand?"

If all else fails...

"X is not a choice. I see you are having a hard time listening so I will take your hand (even pick you up if need be!) and help you leave nicely."

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