S.L.
I would put him in his own room if he's not there already. He will not hear the movements from you or your husband and should do much better. My kids slept on their stomach and that helped so much with them feeling secure but I know most won't do that nowadays so I would let him try to go back to sleep on his own once he wakes and let him cry a little to see if he'll go back to sleep on his own. Sometimes they do wake themselves but he needs to learn to go back to sleep on his own.