it will get better. as hard as it is, you have to determine what HIS normal is, and then treat him as close to mainstream normal as possible. this will both challenge him and help him adjust to things outside his comfort zone.
As for the repetition, that is common too. Watch Wiggles, Dora, etc. the shows always repeat things 3 times. That's how kids learn. The kids also learn to repeat things three times before they move on. Try watching things like Thomas the tank or Elmo. They don't do the repeating as much
I am not a doctor or a specialist. I have however, been around a few kids that have SPD and ASD. For the most part its about giving them an opportunity to do or experience something, but let them decide when enough is enough.
Ex. My nephew has sensory issues. I believe he has ASD tendacies but has not been tested. He is afraid of dogs. For 7 years each time he hears a dog bark he runs in the house shaking. Doesn't even have to see the dog. Then when we are out, he'll run the other way. Now after 7 years of working with him, as long as an adult is between him and the dog he is watchful but won't run. His parents even tried to get a puppy. He walked up, touched it on the hind legs and walked away. that was a HUGE step for him. Then all day he was like 'i like dogs, the dog this, the dog that...' the progress has been lost because the parents decided that a dog wasn't right for their living area.... but we are getting a puppy tonight, so we'll see....
This same boy also doesn't look you in the eyes often, and hugs sideways. The solution? High-fives and fist pumps. He is LOVES to give those!
He has also been DEATHLY afraid of Santa, Chuck E Cheese, etc. Last year we went to Disney World. He got to choose how close he got to the characters. There were sometimes when he had a complete meltdown but he survived. By day 3 he was getting his picture taken with Mickey, Minnie and any other character he could find. This year, at the age of 9 he sat on Santa's lap for his pic, for the 1st time, with a big smile on his face.