Have a spot on the floor for him, in your room.
If need be, he can go there to sleep.
That is what we did with our kids.
It worked.
Also at this age, they do get 'fears' at night, and separation-anxiety.... it is developmental based.
When I was that age and older, I did that too.
I simply missed my parents and would get scared at night, in my room all by myself. I would even, get up, creep down our LONG dark scary hallway... just to go to their room, and squeeze in between them. They let me. I grew out of it.
But... that is one of my fondest childhood memories, of my parents... and how they handled it. How a child goes to bed.... is a fond memory or not, for the child. I still remember to this day.... about when I did that.... and I remember it fondly... because my parents never admonished me for it.
I grew out of it.
It is childhood.
My sibling however, wanted nothing to do with my parents at bedtime. And she would, tease me about it. I just thought she was mean and not a cozy type.... nor very warm hearted.
all the best,
Susan