Is it normal for my 10 month old

Baby to toss and turn all night, he seems restless most nights and if you let him keep tossing you wakes himself up. We just started putting him in his crib which is going okay but then sometimes he will sleep with us usually after his middle of the night feeding. I have such a clingy baby that has to be rocked to sleep for his naps which is really hard. I just feel like I did it all wrong I should have trained him better and swaddled him but now we’re 10 months and struggle normal?