S.H.
You DEFINITELY need to start the whole routine earlier.
Not just thinking of it as a "bedtime routine"... BUT as an "evening routine." Because that is what it is....combined with all that we Moms must do in the evening... it is a mad-rush to get things done, and get them in bed by a certain time.
I would, put him to bed earlier. What time do you have dinner? If it is late and then everything else is done after that... then I would, move up the timing on everything. OR, start your son's routine earlier, prior to dinner, and have him eat earlier.
Many kids, eat dinner by 6:00pm, and then the bedtime routine can begin.
WINDING-DOWN, is crucial. For my kids, they need at least 30 minutes... sometimes even 1 hour, to wind-down, PRIOR to the bedtime routine. And, we don't do any "hyper" keyed up activities right before bed... this only gets then not in the mood to sleep.
Yes, its tiring at the end of the day to get a child to bed/bathed/fed/teeth brushed/diapers changed and to bed... but, that is what it is. It takes time, and each child is different. BUT THE KEY THING IS... is not to "rush" the child or the whole routine. I find, when my kids are Rushed... it only gets them fussy and not able to sleep. When I "rush" my kids, they just get irked. Mega. So, I've learned not to do that.
But yes, nursing, among the other parts of the routine, adding it all up together, does take time. I understand the NEED to just get away at the end of the day... for yourself. But, if you feel that the nursing is creating stress for you... then have you evaluated that? And perhaps, do you want to wean him???? For some women, it can get too stressful by this age. I experienced some of those feelings with my 2nd child... but fortunately, he self-weaned without my prompting, at about 1 year old.
--Is your son on whole milk yet? Perhaps transition him to other sources to drink, and then he won't chase you around for nursing. Or give him something else to soothe with...
I would get him to bed earlier, feed him his dinner earlier, move everything up earlier and yes, accept that it takes at least 1 hour to get the whole routine full circle.
ALSO, what helps us, is to keep the house dark & we keep everything quiet before bed. NO playing or horse-play. You need to "CUE" the environment AND him... that bedtime is coming up. AND give them verbal head's-up that bedtime is soon... Over time, a child will know it.
I know, its not easy... fortunately, you have a Husband that helps with the night-time routine. Because not all Husbands do that. They are tired too after a long day at work. And, sometimes, many times, even though WE try to get a kid "tired" for bed, they simply aren't. And also, when a child is with their Mommy, they have a different mood and reaction to it too... sometimes they will get sleepy, sometimes they won't. There is no way to predict that EVERY SINGLE TIME.
Also, if he is with your Husband for his other night-time routines... your son could very well just be WAITING to be with you... and will simply not get "sleepy" before then, because he is "anticipating" you and his routine with you. That is what I think it is. Many babies/kids are that way, with their Mommy.
All the best,
Susan