K.G.
My second son was the same. My oldest was 22 months at the time. I found that if I put him in a Baby Bjorn or other upright sling, he was fine. Even now, at 19 months, he is much more likely to come and say he needs me to pick him up than his older brother was. But that's just him, and I've come to love that about him!
My youngest never took a pacifier either. I would feed him, sling him, and walk outside. While my youngest played in the yard or on the playground, I would walk. He'd fall asleep that way. Then I swaddled him very well and snugly and laid him down. If I didn't swaddle him just right, he'd wake up screaming. Swaddling really helps!
Good luck, honey. It does not last forever... thank goodness!