If you've got room could you put two single mattresses together on the floor, two mattresses side by side.
i used to find if my DD could feel my hand next to hers, just the presence of us together was enough. I put it on the floor so she wouldn't fall and hurt herself from a normal bed.
Then when she cried at 10pm, I'd go up and go to bed then. She didn't sleep on me, she'd sleep next me, curled up. I'd talk to her and say I'm here, right next to you, now try to sleep, I'd do it over and over, and she'd feel my hand next to hers so we were touching - but enough space both of us. Roll a duvet up and put it between the two single mattresses on the floor and that will stop his feet and legs kicking you. Two separate duvets as well. You only need a kiddie duvet for him he's so small. Or a sleep sack maybe.
Once he knows you're there and there for the night, he'll calm down.
it's the fact you want to get away from him and put him somewhere alone that he's stressing out. many kids out at nursery all day long look at nighttime as a chance to reconnect/bond with their Mums. They do need lots of snuggle time. He can feel your need to get away, his senses your stress - but 10pm is OK for a bed-time isn't it? For a while until he grows out of this phase.
The other thing is the sleep association of the first sleep before your DS sleeps.
You must make sure that first sleep is how he will find sleep again, through the night.
So you need to make sure you're lying with him at 7pm in the same position with hands just touching as he goes off to sleep. That will help bed in the idea that Mum is with him when he first sleeps and in that same way.
As far he's concerned 7pm, 10pm, 2am, 5am they're all the same to him and every single sleep must be entered via the same pattern, just touching hands. at 10pm you're not there so he goes crazy.
I'd suggest being in bed a little earlier than 10pm, say 9:50pm so you can be there to touch hands just as he wakes. He'll think you've always been there.
No this isn't a great way to live - but in time, in a year, he'll be bigger and you can definitely move him to his own room by then. By then, you could put the mattress further away and just the sound of your voice will be soothing.
You have to keep lying him back down and putting him in the same position to sleep, on his mattress, with your hands touching, you lying down too. You do this over and over again for the first night, all night if you have to, through the tears, through the protests, through everything. Then the second night. By the third it will embedded, maybe earlier. I did this with my DD.
I'd take 3 days off work to do this. And then it will be sorted, finished and you'll be sleeping again normally and life can restart.
You've got this. Motherhood is so tough, but you CAN do it. Just keep shhing him. Don't get angry, know that the other side of normal sleep is possible. It is. It will come, I'm sure.