DS more or less co-slept till he was 3, either in our bed, or in his bed next to our bed, and now at 4.5 he sleeps in his own bed in his own room, and goes to bed quite easily most nights :) So, whatever we did, it worked out ok!
However DH got kicked in the head more nights than he'd have liked, as DS was a sideways sleeper, with his head by me and his feet by DH. DS also nursed all.night.long for a long time ... so before DD arrived, that's what I was expecting to be dealing with.
Of course, she is a totally opposite eater/sleeper! She eats pretty quickly, and settles back to sleep on her own more or less, doesn't fall asleep while nursing.
All that background to reply to this:
DH was really not on board with fully co-sleeping after the kicking with DS! So we have the bassinet beside my side of the bed, and I can actually just sit up a bit and reach to get DD out w/o getting out of bed! For the first couple weeks, I kept a change pad/diapers/wetbag etc. in a little pile at the foot of the bed. I really didn't get out of bed at night, and she also slept in the bassinet for most of the night. There is usually a patch between 3-5am that she sleeps with me.
Now, I only get out of bed to do a diaper change in the middle of the night, but still don't have to get out of bed to feed her! It's working pretty well so far .. she does sleep with me a little bit most nights, but that's b/c it's easier for ME, she doesnt' care! Everyone is getting much better rest this round, and I was totally not expecting this!
She is a totally different baby than DS, which I knew she would be, but the ways they are different surprised me I guess. She eats & sleeps much better, but is harder to soothe in general, as feeding her does not solve all her problems the way it did for DS. She also doesnt' just settle automatically when in a sling, so the babywearing is not an automatic easy way to get things done!