7 M Old Cosleeping soon coming to an end?

I use side car crib method and it has worked great since he was a newborn. I’d feed and just scoot him over every night and nap.

He’s so mobile and active now I’m so scared he’ll fall off the bed. I used to lay plush pillows on the edge and before he would just roll around but now as soon as he wakes he sits right up right away and will literally crawl to jump over the pillows. Specifically the very edge and straight to the floor.

It almost happened to my husband today and he told me he did not feel safe any more letting out baby nap like that during the day if we’re not watching the baby monitor or close by.

So I put the rail back on the baby crib and still have it by my side. Just closed up. I also lowered it a setting because he pulls himself up.

I’m feeding him and laying with him in my bed right now and he seems so cozy. I don’t want to pick him up every time he sleeps and put him in the crib ( I feel like it’ll be harder now that I lowered the crib and he’s like 23 pounds also so he’s a big boy.

When did you have to stop cosleeping because active babies wouldn’t stay put anymore.

Side note a floor mattress is not an option for us. No safe space.