We've recently sidecar'd a spare cot to our king so DD sleeps in with us once we go to bed and DS joins us at some point before morning, our sleeping as a family has improved out of sight, we all sleep 100 times better.

As for sex, we get intimate while the kids are in their beds/cot before we retire for the night and join us..... I do miss morning sex though but thats not a co'sleeping issue, thats a having children awake in the house issue LOL

I saw this awesome family bed on pinterest which I'd love LOL - this would be awesome