FTM here, so please forgive me sounding so stressed about this, but truthfully I don't know any other babies like my DS, we adore him but DH and I are utterly exhausted. 
DS is 11 months and has always been tricky - he's never been fully relaxed, always crying and needing to be held etc. getting so frustrated with his milestones, as soon as he reached one (rolling for example) he'd be trying to do the next thing and getting so cross in the process! Sleeping has always been terrible, he can't seem to fall asleep without being in his pram or rocked by us, he's never been able to self soothe. He rarely sleeps through, which isn't helping my mental health at all.
He's always hated his high chair, goes stiff and whinges. Hates baths too, and gets so frustrated if he's been in his pushchair too long (he just wants to crawl!) He's not walking yet but I'm hoping this will help when he eventually does. His attention span seems really short he will only look at a book for a brief period of time, for example or doesn't want to explore toys for very long.
He won't ever let us cuddle him, he just squirms and wants to be put on the floor, but then as soon as we do he's crawling back to us and hanging onto our legs. He won't go to anyone else either, he just screams. He used to love being with others but now he hates it and only wants us which makes it exhausting, especially during family meals etc.
Weaning has always been a nightmare too when he eats well he's great but it's so rare. It doesn't help he's been teething and unwell pretty much for the last few months! I just feel useless, exhausted and like I don't know what the heck I'm doing. He's just so cross and grumpy all the time. HV and GP have seen him and have no concerns, so it's why I'm posting here. Anyway I could go on and on but I'll stop here.
Thank you for any solidarity or advice!