I drag DD to the middle (she's always in the middle anyway, but when I was BF she'd be on whatever side I fed off), put pillows on the edges of the bed, and on the floor. Then pop the baby monitor on. DD is the type that will make a noise or cry before she gets up 99% of the time, and she also very rarely rolls by herself in bed, she wakes up and cries to be moved instead, so I've always been fairly happy that she won't fall out.
If I can sneak out without them waking then there is no way in hell I am touching them! If they are close to the edge I put a pillow in the way, usually tucked in under the blankets which in theory should act as a net to catch them lol. Mine have never been rollers in bed so like PZ's DD they tend to call out for me.
Not something that will suit everyone but basically whenever I'm not in bed with DD2 then she is sleeping on me or DP lol. Either in my lap or in the carrier (or in the car/pram occasionally) depending on what we're doing. Did the same with DD1.
With Ds he stays up with me till I go to bed (around midnight) and he then goes into the cot which has the side off against our bed and it just so happens they are at the same height. He usually sleeps all night to early morning which then I feed him and he then stays in bed with me until I have to get up with DD so I sneak out and because the cot is there I don't have to worry.
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