My daughter never took a bottle or a pacifier. Had I been inclined to use CIO, she would have been one of those scream for hours kids too. She still has an intense personality. I used to rock and nurse her to sleep. Can you try a combo of rocking and nursing? It sounds like he really likes motion to fall asleep. Personally, I would just nurse him to sleep every time. At least with nursing, you can lay down with them to do it. If he likes being upright and in arms, an Ergo baby carrier would probably be great for you. They are comfortable because the weight is spread out over 2 shoulders and the baby sits in it facing you. Eventually he will outgrow the need for motion. I would try rocking him to sleep and gradually decreasing the speed and amount of motion. At least with rocking, you can sit down! If he likes side to side motion better, then use an office chair. (Honestly, that's what I used for my daughter though I have a regular glider for my son.)
A good before bed routine like someone mentioned is a good idea too. My son's routine (and I used this with my daughter too) is bath time, pjs, turn on his nightlight, start his white noise and nurse him to sleep in the glider. I find the white noise is a good sleeptime cue. My daughter was a light sleeper and we have two barky dogs so the white noise originated with her. While you're working on night sleep, I'd also work on his day sleep. Make sure he's napping which is probably 2-3 naps at his age. Get him to sleep whatever works best. Another poster is right that good naps help keep them for being overtired and fighting sleep at night.
To answer your question on how it turned out...At 20 months, the nursing/rocking to sleep no longer worked well with my daughter. She took forever to fall asleep and woke up when I transferred her to her crib. So I switched her to a toddler bed. Our routine consisted of bath, pjs, white noise, both of us laying down in her bed, and nursing her to sleep. Then when I weaned her at about 2, we did a routine involving reading books in place of nursing. At 3.5, my husband reads to her and she falls asleep. Usually it takes less than 10 minutes. Sometimes she even tells him she's tired and makes him put her to bed early. So without any CIO, I'd say it worked out pretty well and she obviously doesn't need rocking or nursing to go to sleep. My son is 13 months old. He's not as dependent on nursing. My husband can rock him for like 5 minutes, put him in the crib and he's out. Sometimes I can put him in his crib drowsy and he'll finish falling asleep in his crib. Different kid, same bedtime techniques, but I'll think he'll be consistently falling asleep on hid own sooner than my daughter. I just mention that so you don't fall into the trap of thinking you did something to make him reliant on being held to fall asleep. Some kids (like your son and my daughter) are just more intense and require more help with sleep. In a blink of an eye, they grow so fast. In the grand scheme of things, the time you spend parenting them to sleep is a small portion of the overall time you spend caring for them.