This is a toughie. I haven't any personal experience to share, but from what I hear if your baby needs help to get to sleep then getting rid of one thing will only mean exchanging it for another thing... Unless you are willing to teach your baby to sleep, meaning letting them cry somehow. I guess if they are able to self-settle, they'd just do it, kwim?
With DD, I found my arms were getting tired when I settled her in my arms, so I now do a combination of settling in my arms, then when she is pretty relaxed, putting her in her cot and firmly patting her bottom. I can tell by the noises she makes what I need to do (ie, if she is crying I need to hold her. If she is 'talking' or making softer noises I need to pat.)
I assume she can't go to sleep without my help because if I leave her alone she just cries. (And I'm not comfortable with leaving her to cry.)

ETA: Good luck, by the way! I hope you find something that works for you all.