1 1/2 year old daughter wakes up every night!

I have 4 children, all of whom I have rocked to sleep until they were 4 or 5. The first three sleep in their own beds and have no sleep issues. The last one, our only daughter, is 1 1/2. She suffered from colic as a baby and seemed to never recover. She wakes up every night, usually between 1 and 3 in the morning. She is a clingy child (didn't want to leave the womb) and comes to our bed. We have tried crying it out. She will cry for 3 - 4 hours every night. She never seems to learn. Now that she can climb out of her crib she will scream for hours if put in her room. she wants to be with me and will do whatever it takes to be with me. I have tried sleeping in her room, but that is not good enough. She wants to hold my hair and be touching me. We would let her come to bed, but she tosses and turns, and kicks constantly for hours until she finally falls asleep and then still continues to squirm a bit. We are losing sleep trying to battle with her to stay in bed and in her room. Can anyone help? I cannot change who she if and think that because she wants to be with me, I have to find a remedy that will help her sleep and stay asleep, rather than trying to help the clingyness. Thanks