We always contact napped and still are at 16 months old. My daughter was the exact same at that age so we resorted to contact naps which yes are a pain but it’s better than an over tired baby. A sling/baby carrier is also good for if you’re wanting to get him to nap and get things done during the day x
They don't know you are separate people yet so wanting to be close is completely normal. As Julia suggested a baby carrier/sling would help you get stuff done whilst baby is sleeping.
A snuggle me lounger was a game changer for us to be able to put her down and stay asleep while we did basic things like you know...eat and shower and pee haha Otherwise like others mentioned...contact naps are key. Make sure you're also following their wake windows...they may be starting to extend so you need to keep them up a little longer so they actually go down for a nap
Honestly my swing helps a ton! soothes them to sleep and I am all for contact napping in sure you’re very busy but sometimes it’s ok to hold them they don’t know anything other than you right now you are their comfort also have you tried to swaddle them?