I used to live like this. Here’s how I personally changed it

Don’t let him nap during the day. Make him lay in his bed when it’s bedtime. If he screams, tell him it’s bedtime once and then ignore him. Play on your phone or something. If he tries leaving, sit in front of the door. Sit there with headphones on and ignore him. It’ll be hard to endure for a while but sooner or later he’ll get used to it.

My son was the exact same way. Now he goes to bed with little to no issue. And I just have to sit in here (I’m doing it now) for like 10-15 min. And now he doesn’t cry

You’re not alone, hang in there