Unable to wean our son at two

Hello, our son was a great sleeper until he hit 18 months. Now the only way to get him to sleep is by putting him in his pram and moving him around for a while. It’s been impossible to get him to sleep in his crib for the past few months, and we are exhausted. He also only falls asleep after drinking milk from his bottle, and he still has a bottle in the morning when he wakes up. We just haven’t managed to wean him. I feel really bad—he’s almost two now and we still haven’t been able to wean him. I’m getting really stressed, worried it’s bad for his health. But we are so tired, and he cries so hard if we don’t give him the bottle that we always end up avoiding the next step. Does anyone have any suggestions? Thanks a lot.