Hi M.,
I would have thought that 6 months was a long time to swaddle, since most babys stop liking that within a month or so after they go home from the hospital.
I have 4, my first 3 were out of swaddling by the time they were a month old. My last, almost 3 now, liked being swaddled until she was about 4 months old.
At that time, I just made her blankets looser than normal, so she could use her arms, and wrapped her up from under her arms down to her legs.
When she was ok what that, and slept well, I just used the same blankets and tucked her in snug, around her legs, back and belly.
Try using light receiving blankets to tuck him in. They will be lighter/cooler during the night, and naps. And maybe leave his feet uncovered, or lightly covered, this will keep him cooler while he sleeps.
I completely understand you not wanting him to "cry it out", the only time I ever did that with my kids was when I had to teach my son to sleep all night in his crib, at 1 1/2 yo, now 8. He would wake during the night, I would take him out of his bed and put him into mine, nurse him to sleep, then fall asleep myself. I did this so he wouldn't wake up his older sisters 8 and 10, because they had school. I made the change during the summer.
My son only cried for about 3 night, but the first was the worst. I would go in after 10 minutes, talk to him, hold him for a minute (without nursing), then put him back into his crib and leave. I would add 5 minutes after every time I went to comfort him, until he finally went to sleep. It took about 1 1/2 hours the first night, then shorter the next, about 45 mintues.
It broke my heart every time I walked out of his room and left him crying. But in the end, it was worth it, and he never had sleeping problems.
Good luck