advice needed!

My baby is 5 months and we still bed share..

I'm a VERY light sleeper, some nights I barely sleep. And my fiancé sleeps on the floor (lol)

The main reason I'm bed sharing is because my LO only stays asleep if I'm there to give him his paci if he's waking up, if I pat him lightly if he starts moving around, or if I pick him up and rock him if he's moving around but still asleep.

Also because I'm a worry wart and want to make sure he's ok all the time..

I wouldn't mind it so much if my LO would stay asleep once I put him down on the bed..

These last couple of days he's been sleeping 6+ hours a night (OMG) BUT it's only because when I notice him start squirming around I pick him up before he cries/fully wakes up and rock him..he falls back asleep in my arms.. I continue for about 30 min and then place him down again..I pretty much do this all night every time he's squirming, if I don't he'll wake up and cry and fuss until I put him back to sleep..I've tried letting him move around to see if he settles back down on his own and it's never happened..

I've even considered doing the cry it out method but I don't think my heart could handle it lol..

So.. what can I do so that he sleeps through the night WITHOUT me rocking him, patting, etc?..

It would be great if he slept like he has these past nights without me having to pick him up lol..then I could maybe get some sleep too.

I feel that if I put him in his crib he'll just wiggle around until he wakes up and I'll have to go grab him anyways so I might as well bed share..

P.s. He doesn't liked being swaddled, 

White noise helps a bit but doesn't make a huge difference, baths don't relax him, and he rarely drinks more than 4oz..