I ended up co-sleeping with Jess as she was terrible and it saved our household and got us through. We got her in a cot about 6 months when she started at nursery and this went ok-ish until 13months when she started climbing out
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I put her in a low double bed in her bedroom at this point (she was walking at around 10 months so by 14 months the bed was ok - she could get in and out of it). This turned out the be the best move we made, as she is still on and off a terrible sleeper, but it means that either me or hubby can scoot in with her if she's having a bad time, and we can back off the moment she's ok again. She hasn't fallen out, and she does come through to our room in the mornings and sometimes in the night, but I don't see this as a major issue, as we just take her back if its the night still. We haven't had any of the yoyo probs just with her being a pickle, only if she's teething or ill.
Using CIO never worked for us, although I did try it on 2 occasions. Jess would cry for a very long time and get herself so worked up she puked all over the bed. Then took 2 hours to calm her down and stop her shaking and whimpering. I completely understand why some people do it, and it seems to work for some kids but clearly not for us! I'm glad we didn't push this route and used the gentler route. Jess is a happy confident little girl who loves her bed and bedroom now. And mostly sleeps pretty well and on her own most of the time. None of the doom and gloom I was given about co-sleeping came true!
With #2 he is so different and much happier to be put down generally. I have a chicco close to me crib co-sleeper cot and this is working out fab as it feels like he is in a little part of our bed, but very safe. I can reach out and rest a hand on him if he's grisly and this settles him no problem. I wish this crib had been about when I had Jess as I think it may have solved the problem but its difficult to know that for sure in retrospect.
Try not to listen to the doom and gloom. I'd go with your gut instinct for what is right for you and your family. It sometimes feels like musical beds in our house at night, but we do whatever gets us all the most/best sleep and we are all happier for it.