Cosleeping advice

My son is 10 months old and we have coslept pretty much from the beginning (not by choice, he just would not sleep). Recently he has decided he doesn't want rocked anymore and will flop around on the bed for about 10 minutes and put himself to sleep. It's been great! He does the same for naps and STAYS ASLEEP, which has always been a big issue. The problem is that I'm worried how this new habit will effect him at daycare. Right now he only goes twice a week bc I'm a teacher. Any assurance that it'll be okay or advice from a similar situation?? During the school year he did okay at daycare, 2-3 30-45 minute naps a day, and he still coslept at night. When I try to put him in his crib awake he screams bloody murder and like I said before I can't rock him anymore as he fights it, so laying him down asleep isn't really an option.