Bad sleeping habits for 5 month old

My son is 5 months and he sleeps with us in a dockatot, when he fusses during the middle of the night I find the binky around him in his dockatot, stick it back in his mouth. And if that doesn’t work I put my arm around him which seems to help because hello, comfort. Tonight my son has just been fussing/crying for the past couple hours on and off again for less than a minute while my husband and I aren’t in bed yet. Which is odd because he doesn’t usually do this. I’m so terrified that he’s just going to grow dependent on it and we will never be able to transition him to the crib alone...and we were wanting to do this when he turns 6 months but idk by the looks of it. Please help, it helps all of us sleep but I know it’s such a bad habit idk what to do😔 he’s been sleeping in his own room for day time naps for a while now though...but I can’t imagine going into his room to put the binky back in during the night or just easily putting my arm around him for comfort. Idk what I’m doing 😔