Pillow- poor sleep

Anybody else’s baby sleep better when laying their head on a pillow! He’s doesn’t have on in cot as I know it’s against safe sleep. He is 6 months old and if we put him to nap on sofa next to us on pillow he loves it. It’s such a struggle bc he wakes around 5-10 times a night and I know this will help but I know it’s so unsafe to have one in night. I’m trying to think of ways that will help. I was looking into floor beds but again I feel he is too young, or even a double mattress on the floor we can lay him on and roll away with a baby proofed room. But I know everything goes against safe sleep and I’m so anxious, but we can’t continue with his sleep like this. I can’t sleep train he cries so hard he starts coughing and screaming even if I’m just trying to sooth him while lying down. He’s not been great since he was born so I don’t think it’s regression or anything. I’ve focused on wake windows, white noise etc. I’m going to try with a really strict nap and sleep routine soon see if that helps. I don’t expect him to be sleeping through I just want to give him longer stretches and ide be happy with 4 wakes! He’s so grumpy bc he’s not sleeping well so it’s not good for either of us:(