Need to change things - setup advice

Hoping to get some insight to make some positive changes! Currently I cosleep with baby (11 mo) and toddler (2 yr 4 mo) in our queen bed and my husband sleeps in office. It's been this way for a bit now unfortunately.

Toddler has coslept practically his entire life. We had a very short stint where he slept in his crib, but it didn't last. Tried sleep training before with ferber and chair method. Failed...he's a very close cuddly little human.

Baby has mostly coslept but I can put her down asleep and she'll sleep awhile. She does still nurse back to sleep though.

We'd like to get husband in bed with me again...but I'm not sure how to go about it. I know toddler won't sleep in a different room, which is fine for awhile still since I'm more comfortable having the babies close. I'm not sure if we would try doing a crib and toddler bed in our room? One big floor bed?

Hoping to hear from anyone with similar experience!