The most successful co-sleeping arrangements I have seen (as a homebirth
midwife) are those households which have beds of the same height all across
the room or ditto mattresses on the floor.  The bedroom is the sleeping room
and the other rooms are the nap, play, dressing rooms. Then everyone gets
the sleep they need as there is plenty of room and no danger of falling off.
MM

"I really wish co-sleeping worked for us,  but it doesn't - I don't sleep 
well with my kids in the bed and often end up with muscle aches from weird 
positions. We tried for 4 months with my first, and sporadically since with 
both.  

Hence the mattress on the floor next to me. Which works well 
sometimes!"

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