Depending on how much assistance your son needs TSA has a program called TSA Cares. It’s an excellent program to help passengers that need additional assistance. They work with Make a Wish, Wounded Warriors, Give Kids the World, etc. With that said it’s TSA employees volunteering and they are taken off their regular position at the airport so it’s not something that everyone should use because TSA is already understaffed it pulls a person checking bags, patting people down, etc. It may not be available at your home airport however if you think you need it you can request the service. https://www.tsa.gov/contact-center/form/cares
Alternatively, you could pay a skycap to use a wheelchair for your son. They normally get through the line faster and will assist you with your luggage. As mentioned TSA PreCheck is extremely helpful as you don’t have to remove shoes, liquids from bags etc. Both you and your son would need it to stay together.