5 mo old dependent on pacifier to sleep - short or long term problem?

My son will fall asleep well with a pacifier for naps and night time, but until he is in a deep sleep he needs it to be replaced so he can fall back to sleep. Sometimes that will work for a couple of hours at night, sometimes only 15 mins. We also give it sometimes to prolong the time between night time feedings. We are often up 8-10 times a night and also naps are now only about 30mins long before he wakes. I think that i should maybe take it away, but many people are warning me that I should just wait until he can put it back in himself since it soothes him and will be helpful as he gets older with teething and sickness, etc. I am afraid that he is never going to really learn how to sleep well if he keeps it, is that true? Or once he puts it in himself he will learn to just roll over and fall back to sleep? I want him to have healthy sleep habit i am not sure if this helps to achieve that or not. I would like to think that crying it out is not the only way. Thanks!!