Transitioning from swaddle to sleep bag

Please give me all your tips!!

My baby is 11 weeks old. When is the best age to start this?

He’s really fussy and takes a very long time to settle at bedtime. I’ve come realise he HATES going to sleep in his swaddle (but loves being in it once asleep). He likes to grab onto me when going to sleep. I’ve tried getting him to sleep without the swaddle over his arms but he wakes up every time I try to get his arms in.

He’s currently in the love to dream (arms up) swaddle but I want to have a smooth transition to a sleeping bag to help with bedtime.