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We just lay her on a floor bed (mattress on the floor) in "her" room until we went to bed. Then we would usually preemptively move her to our bed. I had the co-sleeper functioning as a sort of bed-rail on my side of the bed (flipped so that the flat/taller side was flush to the bed) and then Mr. T was the buffer on the other side. We would have moved the mattress onto the floor in our room, but Lorelei was a really calm sleeper.

We've been bed sharing since birth, and it's been fairly simple and greatly positive. DD is kind of a night owl, so we usually just head to the bedroon with her (~8pm) and we'll read, chat, or Netflix once she's down (she's a heavy sleeper). However, on evenings we want to return to the living room, we just put a pillow on either side of her body. While she is very mobile (11 months, crawling, standing, and cruising), she's been surprisingly good about simply "calling" for us if she happens to wake, and we're in another room. A basic monitor is also helpful to keep tabs.

DD sleeps in the middle of my husband and I, straight on the mattress without pillows especially close by.

Also if you have a convertible crib that allows you to take one side off, there are instructions online for safely sidecarring that, giving her lots of space. You attach it underneath to the bed so it can't move away and then you put a firm foam piece in the crack to form a nice transition to your bed.

Or you can just get a cheap crib from IKEA and do the same thing. It's a sidecar that is big enough for a two year old.

@Vegmama: I'm so glad you found a solution that works! That's what we did for a long time. If he has trouble sleeping again when he starts cutting molars, I think we will utilize a floor bed.