Help! Toddler sleeping

So my son has always been clingy and I know it's our own fault letting him stay in our room all this time.. He won't stay in his own room! He has to fall asleep in our bed and then we carry him into his room, he wakes up every night shouting us and we have to carry him back to our room or he won't sleep.. How can I get him to sleep in his room and him be willing to!?!?! I'm really struggling and it's putting so much strain on my relationship as my partner is having to sleep downstairs sometimes 😔