Baby waking up

I bed share with my baby and he’s been waking up in the middle of the night recently and he’ll literally just spring up to a seated position and start babbling loud and then he’ll try to crawl away, it takes like an hour to get him back to sleep and it’s killing me and my husband because he gets up at 6 for work. I’ve tried taking his last nap away and that didn’t work so won’t be trying that again. Any advice? I don’t want him to sleep in his crib and definitely don’t like the cry it out method