Bek.
We have started co-sleeping more often here. It was getting too stressful. I am also having to lie down with her sometimes to get her to sleep, then moving her. I know what you mean though, I don't sleep so well when she is in with us either, so it's more for when she needs it rather than all the time. She just needs it more lately

I also stopped worrying about going straight from bath to bed - now we have quiet time on the bed (with the lights down) if shes not ready to sleep immediately. I rub her feet, sometimes she will drop off to sleep then, other times she gets drowsy enough to go in the cot.

If you can find something, anything that works - don't worry about 'creating a rod for your back' - just do what you have to for a little bit. Once some of the tension & anxiety around going to sleep has eased, maybe start introducing sleep cues like music, toy etc - Arlea has a stuffed duck which is her bedtime duck.

Don't know if any of that is any help, but big hugs to you