Sleep training without crying?

We are still co sleeping at almost 10 months. My son still wakes typically 3 times a night and eats once or twice. Sometimes it can be up to 6 times but he is teething. He pediatrician told me to let him cry it out in his crib. It is literally heartbreaking and does nothing for us. No matter how long he cries or how often or not I go in, he screams and wakes even more often than if he were in our bed. I don’t mind co sleeping for now. Has anyone had success with switching to a bed/crib later in toddler years without them crying? Or have any suggestions here? 😫