I have a six month old daughter, and she never slept in the same bed as us. Up until she was four months old she slept in a bassinet next to the bed. I could still hear her breathe at night, but I wasn't worried about rolling over on her or having her suffocate on blankets. Although I got very little sleep the first few months (I breastfed), it was the best thing for our family.
At four months we moved her into her own room. She does very well there. We have a monitor, so as soon as she wakes up at night I can go in the room to feed her.
We let her get in the bed with us on Saturday mornings because it buys us a little extra rest time, but that is the only time she's allowed in our bed. This works out great for our family!
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