(((hugs))) that sounds tough
It sounds like he's scared ATM to be left alone to nod off, and then when he wakes/rouses in the night he of course wants you.
IIWY, I think I'd work first on getting him to sleep independently at BT again, and then tackle resettling him in his bed for NWs. You may even find he starts to sleep through again once he's nodding off independently at BT.
It sounds like you might have to do it in quite a gentle way to gain/keep his trust, and avoid him getting so upset. Have you read about the gradual withdrawal method? Have a look here and see what you think.
Toddlers: Walk In/Walk Out vs. The Gradual Withdrawal Method (HOW TO CHOOSE)Also, you say he's not napping now (which is relatively common at this age). How long are his nights? Do you think he's getting enough sleep overall? Just wondering if there could be any OT involved too and, if so, a slightly earlier BT might help.