2 year old fighting sleep in all beds

Alright, so I love this little one to death but man I need some sleep haha.. he has been fighting bedtime, tried a bit later bedtime, tried earlier bed time, tried in his toddler bed and even our bed he crawls out and just cries. (Hes co-slept with us ever since he was born so I figured there is something wrong if he wont even snuggle up with us in the middle of the night. But he he will usually wake up around 3-4 and will stay up anywhere from 1-4 hours. Its killing me slowly. Crying it out does not work. He is a screamer and flails where he will hurt himself, we dont really believe in that method any how. When he does wake up we keep everything dark and boring, hes usually starving (think he has a high metabolism like us) so he’ll drink some milk and eat a few cheerios.

Anyway is this just a developmental thing hes going thru before 2? Or am I just done sleeping? He’s never really been a great sleeper, but he used to wake and then go back to sleep pretty easily.. he gets a good solid 1.5-2.5hr nap during the day. Any help is greatly appreciated...