DS was about 3 months old when I started sleeping with him on my side after being between us and it has worked out well for all of us
In September DS got a mattress for the bed in his room (till that point it was a collecting room where we changed him and kept his toys and clothes!) and he took to it far more readily than I was prepared for. He's only spent one or two entire nights in there by himself and he'll make his way into me every night. I also recently used nighttime-ECing as an excuse to sleep in his bed, just us
He feeds through the night still and it's nice to be needed, two and half years later, in such an intimate way. One of the really nice things is co-sleeping for long enough to realise that their feet reach your knees when sleeping next to you, when you remember cradling them in your curled up legs with their feet resting on your soft belly! And now he likes to roll over after a feed so that I can spoon him into me, whilst DP spoons me....delicious!
Enjoy this time - it sets children up emotionally for life