Baby is 6 months has always been fed to sleep, however he’s now trying to self settle (shaking head, slamming legs, making weird noises) but gets frustrated very quickly, cries then tries to settle himself again and repeats until he actually gets properly upset and needs my comfort. I want to help him be able to self settle but not really sure where to go from here other than giving him every opportunity to do so, how can I help him with this as I feel he gets more upset when I try to pat and shush him?
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Maybe rub his cheek or head lightly?

All of the things you're describing, were actually indications for my son that he needed interventions sooner than crying out for me. Once I responded to those cues he would fall asleep much faster. But my son is a very high needs child