sleep training help

we’re struggling HARD with sleep training. he’s 5 months old. it takes him 30+ minutes of crying- sometimes screaming- in his crib to go to sleep. i’m with him the whole time- he’s never alone, always comforted and responded to. i only do the occasional pick up if he’s truly screaming, because i just can’t take that. if he has his playmat in his crib, or doing his one episode of mickey mouse, or if i just lay him down in there to do something else, he’s totally fine. he has plenty of positive associations with his crib. he just HATES naps/bedtime. the second i set him down, he begins wailing. i’ve tried catching him before he’s super tired, doesn’t help. he only wants to cosleep, which I’m trying to wean off of. it takes 30+ minutes of screaming to get him down. i’m personally not interested in any form of cry it out, but i’m struggling so hard with it. he’ll sleep 2+ hours for his naps contact napping, but only 30 minutes in his crib. any advice at all?