Pie was about 20 months.. we put her in a toddler bed, next to my side of the bed. She transitioned really well, still ends up in with us some nights but overall spends more time in her bed now than ours.
We do the cot next to the bed, with one side removed too. DD can crawl into our bed if she wants a feed or cuddles and i can reach her from the bed. Initially, she would only stay there for an hour or two but lately, she has stayed there almost all night. better sleep for all of us.
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