L.B.
Hi,
I feel for you! It gets better! It is really hard to sleep and get good sleep with a baby in bed with you plus it's not the safest thing but I've done it too out of desperation and exhaustion. I have 4 children and with my youngest I wanted him to sleep in our room for a few months so as to not wake my other children up. We bought a "co-sleeper" made by Arms Reach. Even though we only used it for our last child it was a total life saver. It was a small bassinet/crib that attached to the side of our bed. It was almost the height of my mattress but not quite so he could not roll into our bed. But he was close enough that I could lay my hand on him. We also put a sound machine in our room and that helped.
If he is waking up hungry a lot you may just have to let him cry it out. I know it's hard but if the dr says he weighs enough that he doesn't need to eat during the night then he just needs to learn to go back to sleep if he wakes up. I used a series of books called Babywise. I know that some moms and dr don't agree with this series but for me it worked great. Once mine started to sleep through the night and I wasn't nursing at night I moved them into their own crib/room. When you do this try sleeping with a little animal or small blanket for a few nights and then put it in the crib with your child. That way he can have your scent in the bed with him. My kids had "snodels"-a little cotton blanket that was made to look like a doll. I had two and just rotated them from my bed to their cribs. Even if your son is still sleeping in your room at night try to put him in his crib for naptime so he can get used to it. You might have to put up with some crying but eventually he should get used to it. Good luck!