Sleep problems

Is anyone sleep training or co sleeping? My 18 month old refuses to sleep unless it’s in the bed every night. He rolls around all night and we both get no sleep. I am at a loss of what to do to fix it. Any suggestions for sleep training if you are? I hate hearing him cry so it will be hard for me to follow through with.
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We’ve coslept since night one, but we upgraded to a king size mattress before baby arrived, We put a floor bed into our room & introduced it was a space for naps to take place during the day, and then by the time my son was 21 months he was asking to start bedtime sleep in his own bed, and he doesn’t climb up into the big bed with me until like 4-6am He got sick recently so we’ve been cosleeping more again but I know once he’s had a few days of feeling better that it’ll get back towards independent sleep

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