3 yo won’t sleep- help

Do my son was never a good sleeper. At the age of 3 I still can’t really say he sleeps through consistently. He will have a run of good nights and then few bad and so on. But the last 4 nights he literally won’t stay in his own bed. He will call out until he cries. Tried ignoring it, doesn’t work. As soon as he’s with us, he’s asleep within seconds. Is this beginning of night fears? Another leap/regression? My husband and I are so exhausted. I hate cosleeping, but at the moment can’t get around it. Last night I had to rugby tackle my fidgeting son so he stopped kicking the covers off ?. Anyone has been through the same, has any solution? Thanks x