MEds or not, he is at the age where he feels the need to contest all authority. Push the limits and see what happenes. Test you. It's a phase, but a very significant one. Like a test he's making you pass.
If you give in now, you'll always always give in. I say still be very upset with him when you take him from school, tell him that you were mad and upset becaus of him and ground him (tv sounds like a great idea) and STICK to it. Explain to him why he's being grounded and emphasise the fact that talking back will only get him more time alone in his room.
Maybe he doesn't quite understand everything, but he gets authority. Little boys need that. And you have to lay out your rules very clear.
Just my 2 cents, from a person who doesn't have kids but hates spoiled ones!
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