It's hard to give it up ~! We haven't because we all love it, not just the kids ... we are still co-sleeping with our 6 and 4 year old. But we have a system that really works that allows couple time as well.
Third floor: three big beds on the floor. One for each child, one for us .... no being kicked.
Second floor, parent bedroom.
One parent puts kids to sleep by reading to them in their beds. When they are asleep, that parent comes down and joins parent #2 on second floor in bedroom ... couple time!
Kids sleep soundly without parents for many hours ... generally til after midnight when there might be a "call out" for mom and dad.
Parent #1 and #2 can't actually sleep together because one parent snores like crazy. SO, when we are ready to actually sleep ... one of us will creep up the attic and go to sleep in the third bed up there, next to the kids' beds.
Ta-da, all happy ... kids wake up with mom or dad during the night or during the morning. They know that we spend time away and are now fine w/it because they are older. Besides, it is during the time when they are sound asleep.
OK, sorry ... this is NOT helping your situation. I just... I guess I am saying this is how we were able to have the best of both worlds. This did not come into place when we had a newborn and older child ... then we co-slept with our kids, one parent with each child, and had LITTLE time together as a couple. :(
Gosh, I'm not a help at all.