Re: crawling and bedsharing?
We also taught our LO's to get down safely - "feet first" - kinda like the 'game' a couple of pp's mentioned. Took a bit though. My son (10 months) can crawl up stairs but won't go down and won't usually try to get off the bed either since he doesn't know how to do it yet. He just climbs up. My older LOs both were able to get off the bed safely at an early age.
I got bed rails from freecycle but we never tried them - have a feeling they'd actually be more dangerous for us actually since he would pull up on them, try to use them to walk etc. and maybe flip