11 month old sleep HELP

I’m at a loss. We’ve got a lot going on over here. My 11 month old is such a rough night sleeper. He has always been. Currently we do bedtime around 8pm. Our only ‘routine’ is rocking/nursing to sleep. This only works about 50% of the time. The other half of the time he wants to do what I call baby yoga. He is so restless. He will not stay asleep in his own space. If he falls asleep nursing I can normally get him in his crib but he’ll only sleep there for 2-3 hours (the same length as his naps) and then wakes to feed but needs to be in my bed to do it or else he’s hysterical. On the extra restless nights he won’t fall asleep unless he’s in my bed.

Another problem we are struggling with is the waking up. He at a minimum wakes up 3 times a night and wants to eat. He is nursing every 3 hours around the clock. He also eats 3 full meals and his stomach is a little black hole. Increasing solids is not helping extend his sleep. Other nights it’s almost constant waking up.

Help please. My husband and I are so sleep deprived and we want our bed back.