HELP! 10 week old only sleeping if held!

My 10 week old baby wants to be held all the time but worse, he would only sleep if being held, for both day and night sleep!
It's always been like that since he was born. We got to a point that he was starting to have some occasional naps and maybe a couple of hours at night time, but it all regressed suddenly a couple of weeks ago and we don't seem to be able to get him down in either his next to me or bassinet.
He hates anything that is not arms, pram,car seat even the carrier, you name it.
I got to a point of being so tired and husband not been able to help due to work that I just started to go along with him for both of us sanity. The thing is I am petrified of what could happen at night time. I have him in my arms but protected/supported with a nursing pillow for him not to fall or get trapped etc but I can't control him bending his head onto his chest with me not being a flat surface.
I've tried all the tricks, warming his bed, blankets, waiting 10/20/30/40 minutes, putting him down super slowly with head last, placing one of my tops in the crib, white noise, swaddling (which he hates as wants arms free), but NOTHING seems to work.
I am desperate and exhausted but mostly worried about the worst that could happen.
I was keeping strong hoping it would resolve itself with time but I hear people still having same issues even past 4 months.
Anyone that can relate or have experience that can tell me how they've managed and what to expect?
At least I'll come to peace having to live with this until I go back to work in 10 months time! :(

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