I know what you mean about no time to yourself. I really do! But as your DS gets older, he really will be more receptive to doing it by himself. I'm not sure how old he is, but between 9-12 months they are learning that they are their own people, separate from their primary carer. My plan with DD, is to leave it for now, and rest when she does. I read a book or use my phone for FB or BH or even nap when she does. I will revisit the issue at 12 months.
If I am still finding it really hard, I will revisit at 14 months. And so on and so on. Definitely will be putting my foot down at 18 months though. I definitely want to have her weaned and sleeping in her own bed before she is two! lol