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I find that it is actually soothing/restful to me to know where they are and how they are feeling. If I wake a little, I will put my hand on Lorelei's tummy. I can feel she's breathing and see she is sleeping contently, and then I go back to sleep. I know bedsharing doesn't work for everyone. If it's something you are interested in trying, you can give it a try for a few nights and see if it gets more restful for you after some "practice." It might be that it just doesn't work well for you; if that's the case, I wouldn't feel bad about it. You can get some tips and ideas from parents who have their babies sleep separate and I'm sure you will find something that works for everyone. I don't remember how old your daughter is, but I know that age can be a factor. When Lorelei was new born, I was more vigilant, even at night. But I still feel I got a better night's sleep than if she was in another bed/room. Now that she is 18 months I sleep pretty hard, but I do find that I am still very attuned to things like where she is in the bed or if she starts to get restless.
ETA: You could look into sidecarring a crib or getting a co-sleeper if you want the proximity but also to have separate sleeping surfaces. Sometimes this can be a happier middle ground if you want to co-sleep but bed-sharing just doesn't work well for you.

I think it's just a question of getting used to it. We didn't cobed much with my older son, and when he was sick or whatever and we had him in there, NONE of us slept that well. I was thinking the same thing as you -- who can do this every night?!?!?! But my daughter sleeps in a sidecar/in our bed and we are so used to it now. All of us!

We co-bed, and I don't get any sleep really. It's become a bad habit for us because DS falls asleep nursing and has the expectation of waking up nursing, so he fusses every sleep cycle to be latched on again - about every 45-50 minutes. Exhausting. I wish we'd never started doing it because now its a habit I have to break.

I feel that I sleep well because co-bedding is all I know. We have yet to sleep separately, and DD is three months old. I am, however, immensely blessed, as DD will more often than not, go down after her last feeding, and sleep through the night. She is also a sound sleeper, and doesn't wiggle and squirm to the point that it becomes bothersome. Personally, I think I sleep more comfortably knowing she is right next to me - otherwise, I would be obsessively checking the monitor like an absolute nutter. For now, this works beautifully.

That being said, I don't think cobedding is the right option for everyone. I say, just play around with what feels best for your family, and go with the flow. Get some shut eye however and whenever you can!

DS isn't here yet, but we got a thing like - http://www.target.com/p/baby-delight-snuggle-nest-surround-green/-/A-14241321?ref=tgt_adv_XSG10001&AFID=Google_PLA_df&LNM=%7C14241321&CPNG=Baby&kpid=14241321&LID=PA&ci_src=17588969&ci_sku=14241321&gclid=CPn4ztGCj7oCFYOk4Aod3wkAKA, so that we can have baby in bed if we want and yet it gives us boundaries. But maybe it loses some effectiveness since baby's not right next to you, idk.

Try making something like this: http://www.etsy.com/listing/163038987/bed-sharing-co-sleeper-for-newborn-baby?

Is it possible for you to sleep in between lo and dh? If your lo is like mine they like to snuggle when sleeping, so I don't worry about him rolling off the bed (and he isn't rolling yet) I have found the more I cosleep with my lo the easier or becomes (maybe also because he is getting bigger)