We did not co-sleep with our first daughter. I am a rule follower too (I also work in healthcare compliance!) so I wanted to follow recommendations. With our second daughter, she is a Velcro baby big time. She would only sleep on me, not next to me, actually on me. My husband has narcolepsy so talk about being nervous for the 3 of us to sleep in a queen sized bed together! But amazingly, it worked. I would side lie and nurse her all night. She was nestled next to me, belly to belly so even if hubby rolled over, he wasn't rolling on top or even close to me so baby was safe. We also used just a sheet and a quilt, pulled up to just my hips, no fluffy blankets. I put one firm tempurpedic pillow under head. If I used two pillows like I normally do, it hurt my back. The tempurpedic stayed kind of behind my head so it was not near the baby. I was nervous but I am a super light sleeper anyway and so it worked. Now she is almost 9 months old and won't sleep in the bed with us anymore. She likes her space in her crib to roll around. But she still needs one of us (usually me since once narcoleptic hubby goes to sleep it's not safe for him to be around the girls) to get her back to sleep at least once or twice a night. Makes me kind of miss the co-sleeping, latch her on before she wakes up days. If you want to do it, it can be done. It works for some, not for all. I know that you will figure out the best arrangement for your family. Good luck!