As a mother of three I can totally relate. From what you describe it sounds totally normal, though.
As a random thought: have you tried elevating his head? My little girl sleeps much better with a safe pillow under her head. That is, if I can transition her from my lap to her bed LOL. As for transitioning, try gently pressing his chest with you hand for a few second when he begins to fuss. That sometimes helps them settle back to sleep somehow. Sometimes.