Oh I don’t have advice but looking for it so will probably go for the reward as I read in the answers. Good luck to both of us!

We’ve been going through the same. We sat him down and had a chat about why it’s important to help mum and dad by sleeping in his own bed.
We treated him with in home movie night with special treats as a thank you for the first night he did it.
Now it’s surprise stickers or little treats every now and again.
He’s been staying more and more in his bed.
I don’t want to overly push him; more so find his own way.

With one of my kids we used a sleep trainer toddler clock and he had permission to come at a certain time. Together with a sticker chart he could earn a reward when he stayed within that time.
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just have to get up and put him back n his bed. Leave a little night light on for him so he doesn’t get scared. My kids do this too lol