your DS sounds a lot like mine when he was little.
Nothing but my arms would do! So I slept in the 'pillow fort', upright. If you call that sleeping. I never did drop him although I was terrified I would. I think somewhere around 2-3 months I was able to sleep with him beside me in bed. (alone) Although I did have to have an arm under him and sleep on my side cradling him. The next progression was to the bassinette beside me, although it never lasted all night until he was at least 6 months old. Suddenly one night when he was 7 months old I just couldn't take the pressure anymore of sleeping with one eye open and fearing I would roll on him or something, so I popped him in his cot. And he stayed there! I haven't looked back since. Now he refuses to sleep in my arms, which ironically makes me sad lol.
DS is now in a toddler bed. Needless to say I'm very proud of my sleepytime battle scars.
As for the logistics of the morning routine etc, I used to pop DS in the bassinette when he was really little, and wheel it right up to the ensuite door so he could see and hear me. When he was a bit bigger, I'd pop him in the bouncer with a few toys etc right inside the bathroom looking into the shower. He seemed to enjoy it, and I could have a few minutes of peace. Having said that, I was doing all this with one baby, not two. All the same, I hope some of my ramblings have been useful
Motherhood eh? Challenging would be an understatement! It seems we all turn into MacGyver................ minus the mullet.
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