Maybe he needs to know that you are there for him at this stage. They go through so many stages, but they don't all last long.
Perhaps it is a case of patting his bottom and/or humming to him when he starts crying. Then when he is asleep and you head for the door, and if he starts to wake again, just try again. Soon enough he will learn that if he needs you, you are there for him, and then he won't feel such a need anymore.
That is what I found worked for my daughter. I know they say not to let them sleep on their fronts when they are little, so you can turn him back over at this age. But, my daughter never wanted to be wrapped, now she rolls on her tummy with her bum in the air. But, when she cried, I would go straight in, she was soon re-assured and she is a much better sleeper now. It was tiring for a short while, but it worked so much quicker than my friends who let their babies cry alone, and lasted much longer also.
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