I've tried the Taking Cara Babies sleep training and it worked (for the most part) for bedtime, but he will scream for a full 2 hours straight without slowing down. The only way he will nap is if I lie down with him for the entire nap.
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This probably isn’t the answer you’re looking for, but… if/ when you can - lie down with him for the nap. Some kids (my son too) need extra physical closeness, and that’s ok. If you can’t, consider letting him nap on you in a baby carrier. A screaming baby is a baby in distress, you don’t want that for him. And you will not be creating a bad habit.

No advice on what to do just wanted to say we are in the same boat at the moment. My little boy will only nap if being held or in the car (in the car he wakes up as soon as the engine goes off as well) I've just accepted that at the moment my choices are let him cry it out (leave him distressed and teach him I won't come if he cries) or provide him what he needs to get adequate sleep. The part of their brain that's required to be able to self soothe & self regulate isn't fully formed until they reach about 3 years old so until then ill do what he needs me to to ensure he gets the sleep he needs to develop properly.