Anybody Co-Sleep then transition successfully?

I'm trying my hardest to have my son sleep in his crib in his own nursery. He tends to fall asleep on his own after his last feeding and typically stays asleep approx 4 hours (7-11ish). After that, it's a wrap, he's up every hour or so. He's a tummy sleeper but I only do supervised naps on his tummy during the day bc his pediatrician advised I not allow him to sleep like that overnight. So my question is: Did any of you mommies cosleep and transition your LO to their crib successfully? If so, at what age and how was your experience? I don't mind him sleeping in my bed but I believe he'll have more trouble transitioning later on after sleeping with me versus now.