Baby acts like crib is made of flaming knives

I’m ready to stop co-sleeping, or I’d at least like to start the night separately, without doing CIO (no judgement on other parents who took that route).

I’m happy to keep doing night feeds (babe is 6.5 months adjusted), but I just don’t want to be surgically attached to him all night long. Unfortunately my son thinks he’s allergic to independent sleep.

Anyone who successfully got their crib-hating baby into the crib using gentler methods, please share your wisdom!