How to get toddler to sleep in bed throughout the night

My toddler is about 1 1/2 years old and will wake up screaming in middle of the night if we are not co sleeping with him. Our normal night time routine is 7-8pm we lay with him until he goes to sleep then sneak out. Usually by 10 o clock he wakes up screaming and crying we will go over to him and lay down with him for a second and he usually goes straight back to sleep and then we leave again. We usually repeat this a couple times through night but my husband will give up and sleep the rest of the night with him since we do have a 2 month old waking for feedings 1-2 times a night as well and we both work full time jobs.

Is this something my toddler will just out grow or do you have any tips to help get him sleeping through the night.

(One thing I should add is even co sleeping he will still sometimes wake up screaming )