Yes it will get better you just have to keep taking him! Depending on your gyms day care rules maybe he could bring something that brings him comfort? I started brining a sippy cup for my son and he seemed to start doing better when he had that. Just keep going eventually he will get over it!
SAHM here too. Keep taking him. I started taking my daughter 4 months ago. This week was the first time she didn't cry when I dropped her off. I've seen it gradually get better. She started going at about 18 months. I prepare her by letting her know when she wakes up that we are going. I tell her a few times before we go. When we get there I try to be as cheerful as I can and make it fun and like it's exciting. When we walk inside I remind her what's going to happen - "I'm going to drop you off and go walk, I will pick you back up when I'm done. I love you" then I let her go. If he cries DO NOT prolong the drop off. It won't help. Just drop them off give them a kiss and leave. There's been a few times she didn't handle it and I came back to get her but most of the time the crying stops quickly. He will learn over time that he's safe and you will be back. I did make shorter trips at the beginning idk if that helped or not and gradually Increased from 15 mins to 1hr. Now I leave her for about 1 hr at a time.
It will get better. My daughter wasn’t a fan at first and now she loves it. My daughter is 15 months and has been going since she was about 4 months.