I did that too, Snowchickie - on a tiny campbed (another naughty place to sleep with a baby), DS on my tum/chest (head nearly on my neck, feet between my legs), patting his bum to get him to sleep.

I have dropped off to sleep on the sofa too. It's not ideal but when you're knackered it's just going to happen. So long as you evaluate the risks then I don't see there's a problem. I did consider sleeping with the carrier, which was so comfy, but given that DS and I both turn into human radiators at night it wasn't a good idea - if we had a half-hour nap together with the carrier we'd wake up soaked in sweat (such a pleasant picture for you all!) so I didn't want to do that overnight.

BTW, we didn't do that much skin-to-skin. Mostly we both wore pyjamas/sleepsuits (DS only for the latter).