Baby Legs Through Crib Slats (Long Post)

So, I know the title seems extremely weird, but this is becoming a problem for my little man. My son is 3 months old now, and a couple times a week, I wake up to him crying with his legs hanging out of the side of the crib. He shoves his feet and legs through the slats on the side. The space is the exact measurements that pediatricians recommend and the crib is up to codes and approved by the JPMA (I checked). He has small legs for now, but he's continuously getting bigger. I'm afraid that soon he will get stuck. I put him to sleep in a position where he's actually not even close to the sides really, but he rolls and scoots himself a lot in his sleep. My question is, do any of you mommies out there have any suggestions? His bed set came with bumpers, but my husband and I didn't even bother taking them out of the pack because we heard that it can increase the risk of SIDS. What should I do?