Sleep in his room

So 4 months ago we did sleep training with LO who was 15/16 months old.It was doing good but week or so before our vacation we couldn’t put him into crib because he didn’t want to leave our arms.So on vacation he was sleeping with me.So when we come back home we prepare his room moved crib and put queen size mattress on floor first night was good sleep thru night .Last night however hell I put him to sleep but he barely managed to fall asleep because he needs to touch my arm so he wakes up at 1:30 am 2:10 am 3:30 am and I couldn’t get up anymore so I put him in my bed to sleep (I know big mistake).

I leave both door on his room and our open and in my room I have lamp if he needs to come in.

I’m also 32 weeks pregnant so I need to get him used on his room and he is 19 months old.

Any advice?