9 month old can only fall asleep in my arms

My son is 9 months. His dad works and he only sees him 5ish hours a day. He sometimes won’t even go to his dad. My husband plays with him for a while but that’s not much time in 24 hours. He doesn’t really get held for more than 5 minutes (literally) by my husbands mom and sister.

Some days I can’t put him down. He’ll scream for hours if I don’t pick him up. I’ve tried the crying it out (and I hated it 😣) but it didn’t work.

Every night I co sleep with him (since almost birth) when he was smaller he had REALLY bad colic so I had to rock and bounce him now he won’t go to sleep unless I hold him. It’s getting ridiculous I haven’t been able to cuddle my husband while we sleep in months.

Idk what to do anymore. I’m going crazy. I have to hold him while I sleep. While I eat. While I change. While I shower. While I use the damn toilet!!!