When ours was around this age, we set up a toddler bed in our room, and once they were soundly asleep in our bed, we would carry them to their bed. For the first few months, they'd wake up and climb into bed with us at some point during the night, but eventually they were staying in their bed the whole night. I'm coming up absolutely blank on how we transitioned to falling asleep in their own bed and moving to their own room, I think that involved a lot of negotiations and making their room cooler than ours (colorful rainbow and stars nightlight, fun blankets, etc).
As snuggly as it was to share sleep, I do not miss getting kicked by tiny legs all night, and I hope you get some quality, solitary rest soon.