I agree that people without problems don't post as much, which gives a skewed view of co-sleeping, but regardless you
are chronically tired and that's not good for you or your baby.
When my dd was a baby she slept in an Arm's Reach Co-sleeper attached to the side of our bed for the first 6 months of her life and that worked reasonably well for us. Then we went through kind of a transition when she grew out of the co-sleeper and could not sleep in a crib as I had expected. We were all horribly sleep-deprived and it was awful. We ended up co-sleeping. At first I did not sleep well because I was very tense and uncomfortable. Then I started to relax and sleep better, but I was waking up every couple hours or more when she nursed. It was better than no sleep at all, but still not great. Eventually I adjusted and I started sleeping through her nursing. From that point on co-sleeping was heaven and dh, dd, and I were all well-rested. I never had any desire to night wean because it made no difference to me how many times my dd nursed.
We all know every baby is different and has different needs and desires for sleeping, but we sometimes forget that every adult is different too. I sleep perfectly fine with a child wrapped around me like an octopus, but my dh does not sleep well at all this way, so my dd has always slept between me and a wall or bed rail, not between the two of us.
I'm not sure from your post how long you have been co-sleeping or how old your baby is. It can take a few weeks or even a month to get totally comfortable with it so you are getting a good night's rest. But I would definitely suggest trying different things to make yourself more comfortable. Maybe a side-car arrangement with a crib or bassinet would work better for you at least for now. No arrangement has to last forever. We changed little things many times even after we started co-sleeping. Do you have warm pajamas with easy access for nursing? Comfortable covers that keep you warm and an arrangement that does not stress you out worrying about your baby's safety? Is your bed big enough? Is the room a comfortable temperature? If your baby is very young, would one of those co-sleeper nest things help you sleep better?
I do think a certain amount of sleep deprivation is unavoidable for parents, but it is definitely not healthy to be chronically sleep-deprived. I think you will eventually be able to find a solution that gives you all a good night's rest (and does not involve CIO). Good luck!
ETA: I went back and checked the age of your dd in your sig. I think the 6-7 month period is often a time of transition and even previously "easy" babies when it comes to sleep might become more wakeful. This can be a really hard time, but you'll make it through!