Cosleeping + Queen Bed

Has anyone successfully bed-shared in a Queen size bed? Is there enough room for everyone? All I can seem to find is people with Kings. We are not interested in a floor bed or pushing one side to the wall, so I'm considering getting a bed rail? Also thinking of doing a sidecar mini crib, but not sure if baby would be too far away with that setup--this momma needs more sleep than last time! 😅 I'm only planning on sharing the first 6ish months, so I don't need to worry about a toddler-size space 🙂