Oof, sorry to hear about this, I had a similar thing until week 10, which I worked to get Finn out of.
Basically, it took a LOT of long rocking to sleeps and then transfer, and then back to rocking, and then transfer, and back and forth throughout an hour each time I would want him to nap. Eventually he got the idea that rocking to sleep was ok and then transferring without waking up. One trick that may have helped (I honestly don't know, but it seemed a good idea at the time), was that I would rock him wrapped in a blanket and then laid him down on that blanket to sleep. There was less of a change in temp from body to crib, and less of a change in smell... I kept that blanket with us when we nursed too, so it really smelled like me. I also would ease him from moby to the middle of our bed, which was a lot easier than getting him to the crib.
Although to be honest, the biggest thing was when he found his thumb. The self soothing has been huge.
Wish I had some fool proof method! Walking and wearing did it for us for the first 10 weeks or so, so I'm new to this whole "napping in a crib so mom can take a shower/ do yoga/ work/ thing."