I started my son riding with me on street at 4 by 6 he was in the Honda mags as one of the youngest riders on the back at Honda Hoot. He rode from Wis to Tenn at 7, (mom followed in the truck for when he needed a break)
as said it's more a matter of when can they touch andd hold on. he got so comfortable on the back he would tie his shoes, take naps, etc.
we developed our own hand signals as we were going along ie: this means need a break/ bathroom/ are you awake/ etc.
he has always been on bikes with me though so it was different for us. I used to ride with him on a 3 wheeler when he was 1 1/2 to quiet him down. I was a young dad and not real knowing in "proper" techniques. At 2 he graduated to the front of my dirtbike.
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