If your son has always had these issues, then it is time he get some Therapy or formal professional help.
A summer program for kids, will not address this... to the extent that you hope for.
He is 10 already.
He is a Tween.
To me, it is time to get him some formal professional help.
BEFORE he is a Teen.
AND because, a summer program/camp... will not cure your son of his social issues or mental issues.
He needs, professional help, specifically for his issues.
And a formal diagnosis.
Counselors, at a summer program, cannot, dedicate their entire time, ONLY to your son. ie: if you want one on one help for your son, via a Counselor, then he needs a specially assigned, Aid. Who works ONLY with him.
The Counselors at a summer program, do not have the time to only work with only your son. There are other kids there, too.
And they do not know, ALL about your son nor his history of his behavioral problems.