You don't necessarily "need" to stop co-sleeping. As long as everyone is happy with the arrangement, there is no need to stop. Many families even have a "family bed" where the children all sleep in the same bed or room for years. So a few months of co-sleeping is not bad.
Or are you saying that you'd be okay with leaving him in the crib (but not the bed) while you go run to pick up your husband? If you're talking about that, then you can gradually transition him to the crib -- it might take some time, but it will be easier that way than making him scream for hours every night for a week by making an abrupt change. If you nurse him to sleep in your bed now, you may want to change to nursing in a rocking chair and putting him down in the crib when he's asleep. Or perhaps nurse him in bed with you and transfer him when he's asleep. Does he already sleep in the crib during the day? If so, the transition will probably be easier.
I'd suggest not having extra bedding in the crib -- suffocation hazard. You may want to try to get him attached to a blankie, though, which he can snuggle instead of you. Some kids just don't sleep well at night by themselves at this age. Neither of my kids were sleeping through the night by 7 months. Some kids naturally sleep through the night much earlier. Waking him up every night, though, is going to reinforce the idea that it's normal not to sleep through the night, and is counter-productive.
You say you pick your husband up every night at 11. I assume he goes to work around 3. While I understand you wouldn't want to be without a car sometimes (planned doctor's appt. or something), how often do you really use the car while your husband is gone? Could you go do your errands (with or without the baby) before your husband goes to work? -- then he can have the car to take to work. Car-pooling sounds like a great idea, esp. since you live so close -- there may be somebody who practically drives past your house every day on the way to work. Could your husband get a bike and ride it to work most days?
About feeding your baby before or after a bath -- depends on how messy he is! :-) If you're talking about nursing him, then I would say do that after the bath, to get him to sleep. If you're talking about feeding him something solid so he'll sleep longer, then it's possibly going to be messy, so bathe him afterwards. Not that he needs a bath every day, unless he's dirty.