Advice for transitioning LO to sleep in crib

No judgement please!!

My LO is 5 months old and has slept through the night since he was 2 weeks old. The only problem is, I have slept with him in the living room on the couch with him wedged between me and our center console, on a pillow and in my arms, since then. Only recently my SO said he felt bad that I've slept in there for the past 4 months so he decided to take the couch and gave me and our LO the bed. We haven't slept in the same bed in what seems like forever and I am starting to see it take a toll on our relationship. I have been putting my LO in his crib for naps throughout the day and he seems to do okay, but only for about an hour. I tried to put him in it at night but he goes in at 10pm and is awake by 3am every time. I try to feed him and then rock him back to sleep, but he immediately wakes up as soon as I try to lay him back in his crib. He sleeps 10pm-7am when he's cuddled next to me in my bed, but I know it's so unsafe. I sleep awful because I wake up to every off breathe. Any suggestions as to how I can make it to where he sleeps all night by himself??