Lying with children until they fall asleep shouldn’t be necessary every single night. Of course, if they’re going through a bad patch, where they have additional emotional needs, they should be met.
My DD was the same - she wouldn’t go to sleep unless someone was with her.
DH didn’t think it was necessary and wasn’t prepared to do it. So I always did it. Although I knew in my head that he was right, in my heart, I didn’t want to leave her to get upset at bed time, so I did all the lying with her. Which I categorically did not enjoy, but I couldn’t not do it.
I think you have to take the same approach.
Your DH is perfectly entitled to think it’s not necessary, and not be prepared to do it. If you think, as I did, that it is necessary, then it falls on you to do it.
I got so sick of it, that I had to start weaning her off it. Because DH was right - it really isn’t necessary, and being able to self-soothe and fall asleep on one’s own is something children need to learn to do.
So I would do stories and have a cuddle and then I’d tell her I was popping out to [insert activity] and would come back in 5 mins to check on her, and would keep doing that until she fell asleep. It eventually worked, and I got my evenings back.
Neither of you are being unreasonable. So if he’s not prepared to do it, and you think it’s necessary, then it falls to you. And if, like me, you’re completely worn down by it, then work out ways to phase it out!
Good luck.