Yeah accept him as he is and dont freak out over it.
Be consistent. Be calm no matter what he does.
Be consistent. Be clear with consequences. Be consistent.
Before you are going out… Take him to run around the block. Burn out some energy before asking him to sit.
ADHD isnt a free pass to behave anyway you wish. He still has to learn consequences for bad behavior and rewards for behaving appropriately.
Can i say be consistent enough? You will tell him the same thing 500 times. Maybe even in the same day. Accept thats the child you have and thats how his brain works.
He isnt incapable of learning he just wants more energy in his learning.
Welcome to parenthood.