How to stop bedsharing, HELP!

Fellow bedsharing mommas, I need advice. Let me start by saying I do not want judgment or facts on how unsafe it is. I’m very aware of that and do everything I can to keep my LO safe. However, this habit started at about two months old due to sheer exhaustion and convenience for breastfeeding. When we first started bedsharing he would start the night in his bassinet next to me and sleep 4/5 hours beautifully. He’d then sleep till morning in our bed. Now that he is 4mo he absolutely will not sleep in his bassinet at all. He also won’t sleep alone for naps. I’ve been trying for a while to get him to nap in his crib but he refuses. And now that he refuses to sleep without me COMPLETELY, I’m at my breaking point. What do I do? How do I get him out of my bed and into his crib? Any POSITIVE tips or advice is greatly appreciated 🙌🏻