Your statement in your request for advice says it all" My daughter hates her crib" It is real to her. I think one of the greatest gifts we can give our children is to figure out when things are very real to them versus fuss, tired, etc..when issues are real and we ignore them, we damage that trust bubt when he can, as parents (and it is somtimes labor intensive to do this) tune in to their fears, anxieties, wants and needs..then the trust is repaired and we all bloom.
Please see my post to another mom about cribs and my daughtert...it is postive story..all kids are different but as I said, your daughter has told you she is who she is and needs a different sleeping arrangment.
Lastly, my son co slept as a infant..transitioned nicely but since he was 4 and half, now six, comes into our room every night. He told me ...I need to be close to someone. When he falls asleep next to me while reading, he does not wake up...he is more secure...
Lastly...in no time flat, they all say when we stand in their bedroom door...hovering..Ah, mom, can you close the door.
Moms and dads find their way together too