Toddlers won’t sleep in their beds

So I already know I created this situation, but the night time routine I had for my twins just wasn’t working, and now I just want to know how I can fix it.

So I have twin boys that are going to be 3 soon and fight bedtime, always have. Once they started climbing out of their cribs, I converted them into toddler beds and my boys will not fall asleep in them. I’ve tried putting them in their crib to relax but they instantly get out or start jumping on their beds. Bedtime was taking 2-4 hours each night, so eventually, I ended up laying down with them on their bedroom floor and just moving them into their beds once they were asleep which this method had been working for me for months, the process still takes awhile but it worked for me (my SO works nights so bedtime is all me). Well now my boys have been waking up once they get in their beds, I’ve tried to let them cry it out but they just scream until they leave their room. One of my boys stood on his bed screaming for 30 minutes until he came to find me, I tried putting him back in his bed, but he ended up getting really worked up, so I put his pillow in the floor for him and he was asleep in minutes. My other son, has never been able to self sooth and once he’s worked up, well it’s a fight to get this to calm down.

I’m currently pregnant and I’m not going to be able, to move my boys at all without waking them in a few months, and I really miss the extra time I had each night to clean my house, I couldn’t to everything but I was still able to get a lot done.

So how do I fix my mistake?

I should note my boys share a room and their beds are kind of far apart, so I can’t be by both beds at the same time.