5mo cries nonstop when not held

Okay so my second baby is insanely needy...like I'm talking she needs to be held and paid attention to 24/7. When she is anywhere but in someone's arms, she cries (like...CRIES cries). This girl won't take a pacifier or a bottle and this momma needs to get things done...I feel like a useless mom to my 3yo and a useless wife to my husband because this baby is so difficult. I'm NOT gonna do CIO because baby will cry until she vomits and it's a choking hazard, plus it's extremely traumatic for baby. Truly, my son wasn't like this...he was fine playing with his toys or in a bouncer for almost an hour at a time so I could clean or cook or--God forbid--BATHE. Is this a sign of a developmental issue? A health issue? All milestones are being met but she just cries and cries. No allergies (my son had a dairy allergy), she won't take a bottle or pacifier, and she is cutting her first tooth. We bedshare for sleep and nurse to sleep. I can't be alone in all this... Baby wearing doesn't seem to work very well either 😕