Yeah, you are pushing them. I guess I wondered if he could do a bit more for the second A, as after a really long nap, you're not always getting a full second one. It's like he's catching up from the night in the first nap, but then ends up a bit UT for the next cycle, so doesn't do a full nap and then is OT by the end of the day. Yesterday, the 35 min nap was likely OT though, as he'd been up so early and not done the long am nap that he usually does.
The activities you've listed are very age-appropriate. Since he's a bit touchy, I would just try to do lower-key activities about 20 min before wind down. So, carry him around the house and point out different objects or just sit in his bedroom with some soft music on. Hopefully this will rule out any overstimulation, but I don't think that seems to be a huge issue for him.
Maybe his touchiness/grumpiness also prevents him from being APd back to sleep at the EW and short naps. It could be too stimulating.