Learning to self soothe: 9 month old

I need some guidance on my 9 month old.

I've read many blogs, posts, articles and books on sleep training so I'm looking for some realistic and personal experiences to inform me..

My 9 month old wakes up after 30 minutes of napping and instantly goes into the crawl position that he's been practicing for the last 3 weeks,and cries bc he's still tired. He also does this in the night as well. He can only go back to sleep if I pick him up in my arms (I've tried patting him, singing softly, etc. but he just gets more upset and awake).

He used to be able to put himself back to sleep through sleep cycles before this sleep regression hit, and he was able to sleep so well between 8pm and his 4-5am feeding. But now, it's as if he's completely forgotten.

My question to you all is does this get better once the regression passes? Or do I need to intervene somehow? I'm so sleep deprived

Thanks in advance