My DD's nights were like that, and it really sucks. I got some help from the no cry sleep solution - not a quick fix but it is good for gentle ideas that are worth trying, and secondly just from time. Over time, DD slowly began to sleep longer periods. Not sure how old your LO is now (and whether this is a comfort or not), but we had major advancements in her sleep abilities at 12 months, 15 months (she first slept through the night ) and again at 18 months.

Moving to a sidecar cot (from bedsharing) took awhile to achieve, but it really helped with the feeling touched out thing. even if it is only for part of the night - dd started in the cot and then joined me later - gave me better headspace.

i tried to introduce a comfort toy for a long time before it happened (prob 9 - 12 months) but now DD has 2. they go to bed with her and she brings them out with her in the morning. worth persisting with, but don't stress if it doesn't seem to be happening.

also fak, so apologies for disjointedness.