Hi S.,
I want to start off by saying I have co-slept with my children and was one of those rare children who co-slept with my parents! I grew up with terrible nightdreams! Not related to my childhood..(I had a great childhood). Everytime I would wake up I would go into my parents bed and they never kicked me out. As far as being able to sooth myself, I learned that just fine...as a baby, toddler, and as a girl I did...laying right next to my mom and dad, and in my own bed which I loved! I have grown up fine and have a wonderful relationship with my mom..(my dad died when I was 13).
Co-sleeping is about connection, safety, snuggling, peace, and above all sleep! There really is nothing to worry about..(unless of-course you move around uncontrollably at night, but you would know) My children 7 and 3 are fine. my 7 year old has a bunk bed he loves and sleeps in and he knows he is always welcome in my bed too....my three yr. old has never had a crib....neither did my older....I just know when they are ready for the big bed(that is, their bed) and I help them get excited about it...
Let me dispell any myths about intimacy in bed.... Bed's are not just about sex, they're also about getting comfy and sleeping! And if you can't figure out other places and ways to be intimate with your spouse then your sex life could be down right boring! Not trying to offend anyone, but come on, how long before you had kids did you actually spend making love in your bedroom....not much for me; cars, parks, and oh la la various parts of the house! Shoot, try something new, your husband will appreciate it!....
So with all that in mind, I hope I helped a little, and I pray God will give you the peace of mind about your decision. God bless. T.