Only sleeps when held

My 4 month old is an awful sleeper. Only sleeps when held. Day naps he goes 1-2 hours if held. Otherwise the minute you set him down he’s up. At night he’s so restless he’s waking himself constantly. He doesn’t take a paci so I rock or nurse him back down. If I hold him in bed w me he will sleep as long as I hold him. It’s that setting him down that wakes him back up. I’m tired...any tips?

Disclaimer don’t come at me for letting him sleep with me and tell me it’s 4 month sleep regression because he’s always been this way.