Help me stop nursing baby to sleep

My son is 11 months old and still needs to be nursed to sleep at night and for naps. I'm terrified of him getting cavities since he already has 6 teeth. I dont know how to stop. I cant do the cry it out method , we sleep in the same room. He is also still waking up like once or twice a night so it's not like I can brush his teeth multiple times in the middle of the night to remove the milk from his teeth. If I just put him in his crib when he is tired he wont even lay down for a minute. Hes standing up and crying to be picked up and nursed