Hi! sounds like you´re at your wits end... so sorry!
I know it might seem like he´s been like this on purpose... he´s not. Babies do what we teach them and if he has always dropped off in someones arms, well, he´s just asking for what he knows as NORMAL... for him, falling asleep on his own is what is RARE! I know this was never in your plans, and that why Tracy called this sort of thing ACCIDENTAL parenting.
Imagine getting ready for bed, putting on your nightgown, getting inside the covers and fluffling your pillow, getting comfy and starting to fall asleep, when suddenly, you feel someone pushing your bed to the den!!! You´d be pretty annoyed wouldn´t you? This is what your son is doing... You basically trick him , making him fall asleep somewhere and then , when he wakes up somewhere else, he´s terrified!! AND since he´s been left to cry alone, I bet you he´s afraid of his crib too!
See, he´s pretty normal... only expecting what he knows! But sleeping is a learned art! Yes, some babies fall asleep anyway, anywhere... lucky moms! But for the rest of us (i´d say 99,5%) we have to teach them! LOL
If you haven´t read tracy´s last book, get it!! (the one that´s anounced in here) This is fixable!!!!!! Won´t be easy but my advice is first, regain his trust, play in his crib when it´s not sleep time (more on this Crib phobia in the book/she explains what she did on a case like yours) and then do pu/pd (go to the Pick up/Put down board) Get informed really well before going into this! and eventually you´ll get a "normal" baby...
HUGS!!!
I´ve been stuck with accidental parenting myself!!!!