Changing Jobs from Steel Fabricator into Engineering

Lately I've been thinking about moving back into the engineering world from the Steel Fab/ Erection side of the business. I've been a Project Manager for about 7 years now. I do thoroughly enjoy the problem solving aspect of my job, from figuring out install plans, better connection details, lift plans and the like. There's a constant feeling of getting shit on when everything goes sideways, the usual. I can put up with for the most part but my company does have a PE for me to gain experience under, or provide any real hope of advancement.

Getting my stamp is my biggest driving factor as it looks like more clients are pushing engineering liability down to the contractors. So while I'm thinking of switching, I'm not sure the daily life of an engineer compared to a contractor. Are there any similarities? What are the biggest differences? If I do make a switch, will I still occasionally get to climb on a beam/ ladder? Any advice tips, advice, thoughts are greatly appreciated.