Sort of new to co-sleeping

[Sovereign]

Okay, so recently we've started sort of co-sleeping with Charlie. He is nearly 20 months old but is a terrible sleeper and I simply cannot do it anymore. I've had enough. The only way I can get some sleep is if Charlie is in our bed. The problem is OH can't sleep well with Charlie there. I tried taking the side off the cot and pushing it against our bed but Charlie always wants to sleep on me. He's off annd on and off and on me all night. I don't really know what I'm asking tbh but are me and OH deigned to spend the next couple of years with him in the back room?!