Baby hates his hands touched, etc.

Hello beautiful people! I have concerns about my 9 month old having nerological issues. I brought them up to his pediatrician at his 6 month check up but he didn't seem too concerned but he has since developed more odd characteristics and I just wanted to check if these are normal. This is my second child and my first (over 2.5 yo now) was SO different movement wise and developmental wise. So my 9 month old does not like his hands being touched. He will move his hands immediately if they are touched or if he sees them about to be touched. He also does not like grabbing things from my hand if I offer him things like, say a teething cracker, but he has no problem actually gripping and holding onto things. (He will snatch my phone or remote at any given moment if it's in reach lol) He also always seem to either have his arms sticking out at his side and making a slight twirling guesture at his wrists (almost like a belly dancer movement) or have them bent firmly at his sides. He is able to relax them though. He also does not want to have his feet touch the ground if he's in his activity saucer or his other activity toys where you stand him in and would rather bend his legs so they don't touch the ground and lean forward. At the same time, if I try standing him up myself with support, he will not stand up straight and bends forward even though he is able to stretch his back while laying down. Everything else is normal. He can laugh, roll on both sides, knows his name, sit for maybe 5 minutes before toppling over, etc. Maybe I'm neurotic but I carry so much guilt because he has fallen off the bed and I'm worried. He didn't seem to hit the ground hard and landed face down in some clothes on carpeted floor and didn't seem to have any injuries but it's still a worry. I just either want reassurance that this is normal or if I should be concerned. Has anyone else's baby acted like this? I will bring these up to his pediatrician next check up at the end of the month since he has developed more quirks since the last visit.