Our neurologist told us to give our anxious, sleep deprived son with ASD 3mg of melatonin at 5pm. Ever since then, our sleep routine has been much easier.
For now, it seems like camping out in DS's room is the only thing that will work. For now, stay there until he falls asleep. Once he is feeling more comfortable, start leaving a bit at a time. Stay until he is very sleepy then leave to "go get something" or "use the bathroom". Return in 5 minutes. It's a pain to deal with, but I always try to think that eventually they won't want us to hold their hands and snuggle them to bed.
You could try writing a social story about going to sleep. How about re-planning bedtime routine together? Maybe reading in the dark, listening to calming music, or using an aromatherapy diffuser with lavender? New sheets? blankets? A weighted blanket? Usually if I can get my son to participate in decision making, some novelty helps us through hard times. The good news is this can't last too long (although I'm sure it already feels like too long). Tiredness will get the best of your kiddo eventually.
Sorry you are going through this. Good luck.