Does anyone co-sleep with their toddler/preschooler?

Kim
Long story short, my 4 year old will fall asleep on her little pallet beside our bed and will climb into our bed around midnight or 1 am. Most nights, I'm pretty cognizant of where she is to keep my back to her so she doesn't kick me in my belly (she's a pretty active sleeper). But there are some nights when I sleep through the night and have no recollection of if I've been able to protect belly all night from my 4 year old's kicks. I listen to baby's heartbeat every few days and all seems well, but I'm starting to wonder (and worry!) that she could be kicking my belly and my not even know it. Thay being said, I know baby is generally well protected in her (it's a girl!) placenta-packed, muscle-and-fat walled little oven, but it still makes me wonder if my 4 year old can hurt her in there. Any advice? We are in the market for a mattress for her bed to fully transition her to her room, but even then, what do I do about her climbing into bed with us during the middle of the night?