Cosleeping mamas...

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What type of cosleeping worked best for your family?
I've slept with dogs and cats in my bed my whole life so I'm confident I won't roll on the baby or anything but it still makes me a little anxious to sleep with him in my bed. I considered an on-mattress mesh cosleeper but once he outgrows it what should I do? Unfortunately a crib attached to the mattress or related won't work as I don't like bed frames, so our bed and box mattress are on the floor and low to the ground. Any advice is appreciated!

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