Well, Amy, I too am a mom with a child in the bed with us at night.
I have two children. My first was in our bed from 6-18 months and our daughter, since her birth, is still in our bed at 19 months. I get slack from my parents, friends who have read this book and that book, etc, etc, etc. N. one knows your child like you do. Do what is right for you and your child, not what was right for someone else and their child.
That being said I have two thoughts to share with you.
1. We have a twin bed with a trundle bed that slides under it. If finances allow, this might be a good tool for you. Maybe (though cramped) you could sleep in your child's room, in the destination bed for a bit. Then, the child could sleep in the destination bed and you could sleep in the trundle (closeby but separate). The benefit of a trundle bed beyond this exercise: great for sleepovers but allows you to not consume the room with a full/queen bed.
2. Though I don't normally watch the nanny shows, I did happen to catch one and it just happened to be on bedtime problems. The recommendation for getting the child to go to sleep in the crib/bed was to sit next to them in their room until the go to sleep. This included listening to the child screaming that he wanted out of the crib - ugh. Anyway, each week, the parent position in the room changed. The first week it was seated next to the crib, even holding hands or having a hand on the child's belly for comfort. The second week it was seated in a chair in the room. The third week it was seated in the threshold of the doorway. The story did follow this process and it did work for them.
I did happen to read the recommendation from another mom that the parent separation and the bed issue may not be nice to pair together and may make this an even larger struggle. I have to agree. My son has special needs and one of the questions they always ask on questionaires and forms for preschool and medical visits is whether or not there have been any significant family changes - divorce, death in family, a move. These do effect children in often severe ways. Heck, they stress out the parents, so we need to understand that stress is pretty universal. So, I'd have to agree with that other mom that this may not be the right time to try this.
Hope any bit of this was helpful. Best wishes,
S. :)