Was your baby able to go back to independent sleep after cosleeping during a regression?

I was blessed with a great sleeper very early on. He slept 6+ consistently before 3 months and took no effort to resettle. We never had a 4 month regression either. Now at 6 months he can only sleep 30 minutes independently and takes forever to resettle if at all. During newborn days I was so afraid to cosleep and I would fall asleep holding him and I regret it so much, so now when I know I’m exhausted I bring him in bed with me. I love snuggling up with him and we’ve co slept for naps regularly but I’m finding out it’s hard for me overnight. He sleeps way better than he has been, but only like 2-3 hour stretches instead of 6-7 from before. But I wake up to check on him constantly and I wake up with my body wrecked from the c curl. I love having him in our room next to me but I don’t know if this a long term solution, and I’m afraid that we’ll only be able to cosleep after this regression. I’m just curious about any personal experience of little ones who coslept starting in a regression and what it looked like after. Thanks!