Hi 76. Well Iggy is 5.5 months and we have had almost exactly the same thing going on here. But there is light at the end of the tunnel. We have incorporated some changes and things are now going really well. I was so close to losing it but now everything is just soo much better.
Of course Izzy is different so some of this might work and some might not but...
Our problems: a habit of rocking to sleep, scratching at face and leg kicking, feeding every three hours (24 hours a day), no self settling, waking at 4:30-5am.

Our solutions:
- We gave up wrapping and just used sock on his hands. He learned pretty quickly not to scratch (about 1 week) when he had been scratching for months. Also learned just to let him kick as he is becoming more mobile and active (as long as he is happy). We just dress him so he will be warm all night and don't use any blankets or wraps.
- Pushed back his day sleeps - now awake at least 2-2.5 hours before day naps. He isn't cat napping during the day but having at least 30mins - 2 hours. If he is looking tired earlier we just do some quiet play.
- Routine feeding and introduced solids (a bit early but he was so ready - approved by our doctor).
- At nap time we would pop him in a cot with his dummy and a blanky. If he cried, we would rock until calm and then put him back in when he was calm and sleepy but still awake. If he cried again we picked him up and repeated the process but if he just groaned a bit (which he does when he is settling and isn't upset or distressed) we just stayed close in the room folding clothes etc or walked quietly in and out of the room. After a week we now dont have to rock him at all.
- Over night we have dropped one feed. The one he was more likely to give up, we just give him the dummy and blanky and he goes back to sleep (he sleeps in a cot next to our bed). Our plan was to comfort him without feeding if he cried but actually he hasnt needed to do that. Maybe because he has been practicing self settling for about a week? Also he is really big for his age. I wouldnt drop a feed if I was worried about his weight.
- We incorporated a bedtime routine. This starts around 6:45. We say good night to all of the rooms and people, change nappy and wash face and hands ( we dont bath everyday because of his eczema) and then he goes in his cot with dummy and blanky. I tell him a bedtime story (without a book cos he just wants to eat those and gets hyped up). Then lights off and a lullaby. Then he pretty much just goes to sleep. Soooo different to before.
- We started setting the alarm for the morning. We started at a time he was likely to be ok with (5am) and have worked it back to 5:30 or 6 depending on the morning. We ignore him till the alarm goes off then give him a big good morning and some bed hugs. If we can hear him getting a bit bored and worked up we just sneakily bring the alarm forward so it goes off sooner.
Best of all - we did this all without crying! (on his or my part) and stayed true to our beliefs of comfort parenting.
The most important thing is if you decide to do anything that you have to be consistent. This things usually take a little while to change and if you give up on the third day or so the bub gets confused.

I hope this all helps. I know exactly how you are feeling. Also remember that positive parenting doesn't mean you have to just put up with things. It just means you have to look at positive ways to change the situation. Five - six months is an ok time to start thinking about these things.