Co-sleeping and restless baby?

Past couple months my son can't seem to get comfortable, he's very restless and will wake up a couple times crying. He isn't hungry, teething, sick, or constipated. It's almost like he's overtired but nothing has changed in his routine and he does not appear overtired during the day. He's still getting same amount of sleep and going to bed at 7 every night. Routine is the same.

Anyone else experience this? I thought maybe he was uncomfortable with me so I put him in his crib but he was still restless. He usually sleeps better with me, but lately he's sleeping really bad and I feel bad for him. 😥 And I'm also sleeping bad as a result 😴