Sleep help

G
My son is 6 months old, EBF except for 2 solid feedings a day. We have been bed sharing since day one. The first month we tried putting him in a bassinet and room sharing but he always ended up in our bed after he'd wake up to nurse. He's never really napped anywhere other than my lap, sometimes his swing. When I put him down for bed or a nap he always wakes up crying, he always has. Hubs is ready for him to sleep on his own but I'm fine bed sharing longer. My only concern is that he won't nap alone and how can we transition him to his own bed when we decide it's time for that without using the cry it out method. And what age would you recommend moving him from our bed? Because we can't agree on an age so just having an idea would be great