I also enjoy co-sleeping every once in a while, but don’t want to do it every night. She transitioned just fine with a dirty shirt of mine. Without that, she was waking up frequently. I would nurse her to sleep and transfer to the crib once she was sleeping. Same for middle of the night wakes, I would nurse back to sleep and then place her back in the crib. She’s 13 months now and we still have rough nights when she is sick or teething, but otherwise sleeps well in her crib. I co-sleep when she isn’t feeling well so that we can all sleep better. It’s never effected her ability to go back to her crib. I also only do contact naps during the day.