C.M.
Your son sounds like a real "sensory" sort of guy -- he wants to taste and touch everything. All of the advice you've gotten so far is good. I'd also look into giving him a wide variety of safe sensory experiences -- try a wide variety of foods with different textures. Some kids love playing with a big bowl of dried rice or beans. Others really love playing with the water at bath time. (try swimming?).
He also sounds high energy, yet taking him outside for a walk is a challenge. When my kids were really young they liked a Gymkids class put on by the City of Sunnyvale. It gave them a wide variety of physical challenges. Are there still gymboree classes around?
Is Los Madres still around? Those were groups of mothers (organized by city in Santa Clara County) with kids of similar age. Going to the park days with other moms would be a good way to see how other mom's deal with the toddler challenges and give both you and your son a chance to socialize. My kids are both teenagers now, so I don't know the contact info for Los Madres. Can any one else fill in the details?