Re: He wants to be in our bed. period.
Believe me, I get it. Sometimes you just want some time or space to yourself but Baby's sleep routine will probably get more predictable if you let him in your bed.
IMO.....this time passes so quickly. If you weren't such a caring, sweet mama, you wouldn't have co slept this long. It sounds like it breaks your heart to hear him cry. If you commit to letting him in your bed or bedroom, his anxiety over being put in his crib by himself will likely fade and everyone will probably sleep better.
Enjoy him while he is little.