Co sleeping nightmare 👶😴

Our son is 14 months old. From birth he's had an irregular sleeping space between houses. On the weekends my husband and I put in so many hours at work that my parents and his parents take turns ever other weekend watching him and our ten year old and we pick them up every Sunday night. I work three 14s in a row as a nurse on a very exhausting medical unit. When he was younger and still not sleeping all night they would take the kids so I could survive the work weekend. At the grand parents houses our youngest has his own room and crib. At our house we still live in a two bedroom and his crib is in our room. On and off since he was younger he would sleep in bed with me during the week because there were nights we'd both fall asleep as I was trying to get him to bed. And found he'd end up sleeping all night and so would I. My poor husband would slee with us but as he got bigger he ended up moving to the couch. Because even if I'd put him in the crib he'd wake up through the night and if my husband was in the room he'd loose sleep all week and be work out and has a very busy work schedule. Over last couple months though our youngest hasn't been made to sleep in the crib at our house. I miss sleeping next to my husband and at our parents he'd been sleeping in the crib and waking once a night. So I thought it's more than time to get him back in his crib. Well he's older now and must believe that "Mom moms" bed is his bed. It's also a problem that obviously the crib is in our room. So I can't just shut the door and let him fall asleep again in his crib and leave him be. I open the door or make a noise and he wakes up cries. I've tried multiple times during the night to put him in his crib. Unless he's probably dead to the world tired he wakes as soon as I lay him down. Right now it's 541am and he's in my arms. I put him in his crib and walked away for 20 min. He stopped crying so I came back and soon as he heard any noise from me he was crying for me. Obviously having the crib in our room makes it much harder. How the hell do I get this child back in his crib. He's too young to reason with and I can only let him cry for a few minutes I don't do the whole cry it out thing. Especially if I'm in bed near him and he can see me. We want to buy a house but can't for another 6 months or so. Please someone give me any clue or idea on how to do this. He just keeps waking and crying for me.