I've always been a co sleeper, so I've never had problems like this...it was the best thing to do with MY babies and MY body and mind.
My first baby, a boy, would NOT sleep in a crib EVER, so I went with what worked according to what was most important to me--SLEEP (for this discussion).
I've never been the Mom who didn't want my life to change because of children (in general), so I allowed my routines to change enough to mold to the need of my babies and then steer them to a new normal for both of us. It's always worked, I've always had sleep, and I have never really stressed about anything.
The most important thing for you is accept that there really is NOT a "right" way to do things. Through the books out, tell your family and friends to mind their own business and look into yourself for the answers for mothering your baby. Follow your heart and your instincts--they know better than what some book or someone else. NO ONE in the world from the beginning of time to the present has EVER mothered THIS baby, so NO ONE knows the answers!!! And YOU are the ONLY one who will (and hubby).
Be flexible. It doesn't HAVE to be the crib right now. It could be his Car Seat. You could take the mattress out of the crib and then nurse him laying on that where ever you want him to sleep so that you're not disturbing him with movement once he's out. You could get a co sleeper bed to put beside your bed so you can nurse him in your bed and then scoot him over to "his" bed. There are SO many options. Be creative. Let the "experts" be experts in their "theories" and YOU be the expert on YOUR baby.
You are so smart and you love your son so much, you'll do well. Just trust that your baby's Mommy knows him and is doing her very best.
Have no worries, you'll find your groove.