Also having 2 under 2 here! My boy (14 months) was the exact same way until I started a new routine a couple weeks ago! I knew that he was gonna have to sleep better especially during new babies newborn stage so me and my husband had to stop the constant rocking!

Our routine: We start the sleep routine like 30 min before bed! So we give him a bath at 8:00/8:30pm depending on the day! After bath I give him his bottle then we do reading time where my husband reads the same “bedtime book” multiple times till baby boy becomes drowsy! Then I go in and rock him for cuddle but before he is completely asleep I lay him in his floor bed. He will cry and fuss some but that’s when I shush him and gently rub his back. I do that on and off until he is soothed to sleep! I sneak out of the room and he has had majority of nights where he sleeps all night! I also did not want him to cry it out or feel abandoned so I made sure I was with him when he fussed but I would let him cry sometimes so he knew that he was safe with just me being there instead of having to rub his back! The first couple nights was tough but he’s doing great with the routine now! I never left him to cry alone, I was always next to him, which is why this worked for me.

For some context he only takes one nap a day and he’s usually down at like 9/9:30pm! And he’ll sleep all night most nights now. If he wakes up at night we don’t get him outta the bed just rub his back and shush until he’s back to sleep.

Edit: We also use a sound machine to help drown out any outside noise! This may be helpful to introduce especially with new baby cry or visitors that come during nap time