Wow I never even though about any of the setups mentioned here. DS just sleeps w/us... nothing fancy... just plop down on the bed. He usually sleeps in between me & DH when DH is home... if he's at work then we're just us two! I am a light sleeper around DS so I don't worry anymore.
I do put him in his crib if I'm in pain & have had to take meds for it or something... but he does fine w/us. I just move the pillows away from right up on him. I also sleep lower than him... um, like I have the blanket covering to my shoulders & his too so my shoulders are like even w/his head or lower LOL