Toddler in my bed!!!!

Ok. Yeah. So... My son will be 2 on the 4th of July. I've let him willingly in my bed all his life. Because his father and I were not together during my pregnancy or for awhile after his was born. Long story about why. Anyways we got together fell madly in love now we all live together playing house Lol. Buuuuttttt my son is still in bed with now us. I've tried alot of ways scheduling/ tough love/ read book till he fell asleep/ let him watch movie till he fell asleep/ pat his back for 3 hours/ cry it out and every night he either flat out refuses to stay there or falls asleep there then wakes a few hours later and is coming in our bed. I can't turn him around and put him back Cuz its melt down city and hells to the naw. And I can't have him freaking out cuz we also live with my mom at the moment and she works too. So every night it ends up as deep couch city for daddy. Will they grow out of this?