WOW! I never thought this topic would get so many responses... Nice to hear I'm not alone, but I'm also sorry that the joy of co-sleeping seems to be marred by the pain of it for so many of us... Some good ideas though. For my firstborn I used a hammock for some of the night, but haven't tried that this time round. DD is different, and I think she'd wake more being in the hammock.
We have a KS bed too and I try and roll DD over before each feed to swap sides. ATM she doesn't seem to be waking much to feed so I'm going to try and make the conscious effort to move my arm from around her and move my head down to her level.

How do they do this in countries where co-sleeping is the norm!?