Tips to get toddler to fall asleep independently

20 month old has been put to sleep for nearly every nap/bedtime in a baby wrap. No issues transferring him to his bed/my bed for sleep, and he has slept through the night pretty regularly since around 8 months old.

I can’t for the life of me figure out how to get him to fall asleep in his own bed, and I’m getting increasingly frustrated. I’m so touched out, and I really wish I didn’t have to carve 1.5 hours out of my day to rock him to sleep.(or in tonight’s case, 3 hours).

I guess I just assumed he’d grow out of it and when it became apparent he would not, habits were too ingrained to painlessly pivot sleeping arrangements.

We have a solid time routine regardless, but as soon as I place him in his bed at any point, he screams and will not calm back down. Help!