Does anyone else co sleep?

My baby is 3 and a half weeks old. We started with a bassinet which she slept in once and I didn’t like it. So we bought a co sleeper that connects to our bed and I would have to put her in there wirh no blankets and she would always get cold no matter if she had a zip up footie pajamas with the built in mittens. And the heat was turned up to 72. So one night a few days ago she fell asleep in bed with me and she slept so good and was warm all night. I woke up every 2-3 hours to feed and change her and I never moved at all . Who else does this ? I have read a lot about how I shouldn’t do this but I love sleeping next to her cuddling and we both actually get good sleep