J.S.
M. -
I'm going to totally change things up here and suggest something that I learned through my sister-in-law's experience: take her potty!
Both my daughters and my nephews started crying inconsolably during the night around this age, and it took a while for my sister-in-law to figure it out, but thankfully I learned from her experience and tried it right away. When nothing was visibly wrong (they were warm, had their drink, their blanket, etc.) we took them to the bathroom, and what do you know?!? They peed, calmed right down and went right back to sleep. My daughters were potty training at this point, but her son wasn't, and yet he would still go at that time for her.
As far as the sleeping in her own bed issue, there is a very strong divide between co-sleepers and the rest of us. My husband and I have chosen to let our kids lay with us for a couple minutes if they come in to our bedroom for some reason, but then we lovingly tuck them back into their own beds. You can be a loving and attentive mom without having your kids co-sleep with you. I feel you just give them the love in their room rather than yours so that they know you are always there for them, but don't get in the habit of sleeping in your bed - if that's your choice.