There's other halfway options like open-sided basinets that slide up to the side of the bed. Nothing gets everyone as much rest though as actual co-sleeping where the baby can nurse throughout the night without everyone having to wake up and reposition. A breastfeeding mother naturally will end up in the "freshman-triangle" with the baby protected from smothering in the hollow of her body. Mothers who are not breastfeeding tend to place the baby higher up near their face where the baby is more likely to roll between pillows.
Obviously do whatever you're comfortable with. But done right, it's far safer than the medical establishment would have you think.
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