M., I had that same issue as my DD was and still is in the 97% she just turned 5 and is still growing a mile a minute... almost like a wild weed although she is as beautiful as a delicate flower. :)
We just co-slept.. we have a KING sized bed.. and I used a boppy and put her on her side... DH and I had to have our own covers so that he didn't cover her up.
It is almost impossible which lead me to the co-sleeping to find a co-sleeper unit. I don't believe in the CIO method after all she only 'wanted' to be with me.
If I may suggest, you could rearrange your room as one of my friends did and move the crib into the bedroom and the dressers into her room at least for now. It will work. :)
This way you can be close to her with in an arms reach but yet have some place safe.. your room might not look as pretty as it does now but it is only for a season... as she won't be in there forever... We actually co-slept till my DD was 3.5 yrs old. (We had to be creative in many ways to keep our imtimate life up to speed ;) not everything has to be done in the bedroom. :)
I also nursed so co-sleeping was worked best for our family. I know you will do what is BEST for you and your family.