I haven't yet but, plan to start putting DS in his crib for naptime so that when it's time for him to sleep through the night in there, we're both used to it. He has been sleeping in his PNP in my room and sometimes, when he wakes to nurse around 4, I nurse him on my side and fall back asleep, so he stays in my bed. I said I would never let him sleep with me but, I'm a single mom and sometimes, it's so much easier!
Maybe you could try swaddling and putting him in his crib when he's drowsy but not asleep? That way, he won't startle awake when you lay him down.