Сергей Пуговкин

<div class="row">
    <div class="col-auto d-flex">
        <div class="sticky">
            ...
        </div>
    </div>
    <div class="col">
        ...
    </div>
</div>

.top-0 {
    top: 0 !important;
}
.bottom-0 {
    bottom: 0 !important;
}
.left-0 {
    left: 0 !important;
}
.right-0 {
    right: 0 !important;
}

'use strict';
$(document).ready(function() {
    let $window = $(window);
    let stick = (function () {
        let $sticky = $('.sticky');
        let $stickyParent = $sticky.parent();
        let windowTopPrevious = 0;
        $stickyParent.addClass('align-items-start');
        $sticky.addClass('position-sticky top-0');
        return function () {
            let $windowHeight = $window.height();
            let windowTop = $window.scrollTop();
            let windowBottom = windowTop + $windowHeight;
            let stickyTop = $sticky.offset().top;
            let $stickyHeight = $sticky.outerHeight();
            let stickyBottom = stickyTop + $stickyHeight;
            let stickyTopRelativeParent = $sticky.position().top;
            let stickyBottomRelativeParent = stickyTopRelativeParent + $stickyHeight;
            if ($windowHeight >= $stickyHeight) {
                if (!$sticky.hasClass('top-0')) {
                    $stickyParent.removeClass('align-items-end').addClass('align-items-start');
                    $sticky.removeClass('bottom-0').addClass('top-0');
                }
            } else if (windowTop > stickyTop || windowBottom < stickyBottom) {
                if (windowTop > windowTopPrevious) {
                    if ($sticky.hasClass('top-0')) {
                        $sticky.css('margin-top', stickyTopRelativeParent + 'px').removeClass('top-0');
                    }
                    if (windowBottom > stickyBottom && !$sticky.hasClass('bottom-0')) {
                        $stickyParent.removeClass('align-items-start').addClass('align-items-end');
                        $sticky.css('margin-top', '0').addClass('bottom-0');
                    }
                } else if (windowTop < windowTopPrevious) {
                    if ($sticky.hasClass('bottom-0')) {
                        $stickyParent.removeClass('align-items-end').addClass('align-items-start');
                        $sticky.css('margin-top', stickyTopRelativeParent + 'px').removeClass('align-self-end bottom-0');
                    }
                    if (windowTop < stickyTop && !$sticky.hasClass('top-0')) {
                        $sticky.css('margin-top', '0').addClass('top-0');
                    }
                }
            }
            windowTopPrevious = windowTop;
        }
    })();
    if ($window.scrollTop() > 0) {
        stick();
    }
    $window.on({
        'scroll': stick
    });
});