Baby not wanting to be put down

Robin
Any new mothers out there have this issue? Our little one is ok normally to go in a swing after we have fed him & held/played a bit to make him tired. He will nap in there anywhere from 45 mins to 3-4 hours. But he will absolutely cry if we try to put him to sleep in a pack n play or crib, or even his rock n play which is what we have next to bed. He really hates to sleep alone and is starting daycare next week so he won't have a choice there which means they're gonna have to deal with a screaming baby. We eventually get him to sleep either in rock n play (swaddled) or sometimes in our bed after breastfeeding to get him to fall asleep and carefully & slowly putting him down but leaving our hands on him a bit longer. The fight is real..especially late at night.