What I did: When mine were infants, we had a the crib bed butt up next to ours between our bed and the wall. We dropped the one wall to the crib so that the baby's mattress was butted up next to ours. Mom and dad got all the room they needed and baby was sleeping "separately" in their own bed. Mom just had to roll over to breast feed in the night. Nobody was worried about rolling over on the baby. Alleged problem solved.
This was back in 2002. I was worried about these types of accusations back then. I'm glad I was. It's outrageous the amount of power these agencies believe they can purport on parents.
Yes, that's a good option as well.You were worried back 16 years ago, damn... things just progressed :/
Looking back then, back then, I didn't know why I was worried, I just had "a feeling." Looking back with what I know now, my intuition has saved me more times than I can count.