Hi, my DD was exactly the same, would only ever sleep in our bed with the boob in her mouth, and I was the same as you, my hip would be so sore all night and during the day from not being able to move around during the night, not fun

I also worried about never getting her to sleep independently, but as others have said, at around 12 weeks she was happy to sleep separately and now I am able to put her down in her cot awake and she will settle 95% of the time.

It does get easier with age, good luck!