I really like Ron’s mule analogy. You blame your sons lack of friends on his ADHD, but also state you put him in all Honors classes with ELEVEN AP classes which he then ran out of and spent his senior year taking university classes NOT with his peers. Geez, this boy did all he could for you to meet your expectations. Taking a year off before college is probably just what he needs to rest and re calibrate. Gap years are pretty common in other parts of the world.
It is pretty obvious that your love for him comes with the condition that he meet all your expectations and does exactly what you want, which is pretty unfortunate. If you stay this way, considering your son a loser because he knows what he needs right now and is doing it, you’ll lose out on a relationship with him forever.