Baby fell off the bed while bedsharing

The title says it all. I feel so guilty. We’ve been meaning to start sleep training to use her new crib. Usually SO and I are light sleepers so we’ve managed sleeping with baby for 9 months with no issues. But now that she’s mobile for some reason we didn’t feel her climbing over my husband and then we heard a thump and then both of us jumped up. Then she started crying and we grabbed her and kissed her and then she stopped and acted normally again. Now we’re doing sleep training cold turkey because no way are we risking that again. But it’s so hard and she’s crying so much as soon as she is put in her crib. :(

Idk what to do. I was initially against sleep training but now the fear of her falling again is overpowering my ability to look past the risks.

I slept most of the first night in the crib with her. She seems so scared and idk what sleep training method to even use because I had no time to research this.

For those that sleep trained this late, did it get better? I feel like she’s sooo clingy now during the day and screams whenever I put her down because she’s scared I’ll leave her 💔