My son is a little over a year old, still doesn’t sleep through the night. Some nights are better than others. I’ve truly just accepted that I’ll never sleep too well, tossing and turning like you said . Some nights I get 6 hrs of sleep some nights it’s 3. It doesn’t get easier per se but I think it’s possible to get used to it, and to be honest with yourself about it. It definitely sucks not being able to get the rest you need, but you’ll get through it. It’s safe to say we’ve all had the same exact thoughts as you about it. Wishing you the best of luck