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It sounds like he might not know how to settle and chill out on his own, and - depending on his age - might also be overtired because of it. My youngest is like this, and was from the day he came home at eight weeks. He required regular enforced naptimes where he'd go in his pen with calm activities (safe chew toys or a stuffed Kong), and stay there until he fell asleep and then woke up on his own. As he got older we'd also occasionally tether him to us if we knew he was exhausted but he was just amped up and obnoxious and not settling.
We supplemented this with impulse control and relaxation training, using parts of Karen Overall's Relaxation Protocol, the Sit on the Dog method, and Deb Jones' Zen Focus (this one is a for-pay online workshop while the others are free, but I thought I'd include it since I found it quite useful).
However, all the training in the world wasn't going to help him if he was overtired, unfocused, and making poor decisions, so enforcing naptime was really key. He still needs to be tethered occasionally now, at two, because he gets so overstimulated by something that he needs a little extra help. But it's like you put the collar on and a switch goes off, and he lies right down and passes out. Obviously none of this is a replacement for exercise and mental stimulation, and works much better with a dog who's having their physical and mental needs met, but it's not a bad thing at all to enforce a routine of rest and relaxation if you have a dog who can't do it for themselves.
If he's showing signs of anxiety, however, you may want to consider addressing that as its own issue, as that can be another cause of restlessness. But from your description it just sounds like he doesn't have a natural off switch and needs some help learning one.
We supplemented this with impulse control and relaxation training, using parts of Karen Overall's Relaxation Protocol, the Sit on the Dog method, and Deb Jones' Zen Focus (this one is a for-pay online workshop while the others are free, but I thought I'd include it since I found it quite useful).
However, all the training in the world wasn't going to help him if he was overtired, unfocused, and making poor decisions, so enforcing naptime was really key. He still needs to be tethered occasionally now, at two, because he gets so overstimulated by something that he needs a little extra help. But it's like you put the collar on and a switch goes off, and he lies right down and passes out. Obviously none of this is a replacement for exercise and mental stimulation, and works much better with a dog who's having their physical and mental needs met, but it's not a bad thing at all to enforce a routine of rest and relaxation if you have a dog who can't do it for themselves.
If he's showing signs of anxiety, however, you may want to consider addressing that as its own issue, as that can be another cause of restlessness. But from your description it just sounds like he doesn't have a natural off switch and needs some help learning one.