My son will be 27 next month. He was dx'd with this in 4th grade, it was called Sensory Integration Dysfunction back then. There was Occupational therapy available a couple places in my city but even with ins the co-pays were too expensive.
This was an addition to several other dx's he had already. Was always in spec ed & has struggled as an adult. Refuses all treatments now...

Hope you are able to get the correct dx & therapy for improving.
Take good care.