Sleep help

My son is almost 11mo. From about 4mos on he has been in his crib in his room next to our room, with the exception when he was sick and coughing all night and needed comforting. Now for the last month or maybe even 2 now he won’t stay in his crib. We do his usual night routine bath, lotion, rock/read a story and feed a bottle, we put him in his crib every night and it lasts a varying amount of time. Sometimes a few hours some times/usually maybe until somewhere between 1-3am. Then it’s a matter of put him down and he wakes and cries repeatedly until we give up and bring him in our bed. How do I get him back to sleeping in his crib all night? He’s never slept through the night, but he was at the only 1 wake up a night and in his crib all night for a while. Idk what went wrong. 🤷🏼‍♀️🤷🏼‍♀️ I love my son but I want my bed back! Any suggestions? We tried cry it out about a month ago and it went terribly. By 2minutes in he went from crying to hysterical like a panic attack, and my husband was pissed at me for even trying it. After that we couldn’t even put him down without him immediately freaking out,