hammock for baby so you can rock him/her through next sleep cycle.
feed bub to sleep and then leave them on your bed/mattress on the floor.
I don't know that cosleeping is the cause of your #3 unsettledness, i largely coslept (alternated between bedsharing and using a hammock for baby), and both kids were different in their sleep patterns. DD was only ever a short napper, but DS got to a 3 hour nap for awhile.
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