Had my son sleep on the floor bed from the start. At first, we coslep. During naps, I'd leave the room once he was asleep. Later, I did the same for nights. And finally, we sleep trained now he sleeps independently.
@Rasa What did you do for sleep training?
Look up the ferber method. I used a modified version of it. He was never left to cry it out, but there were tears.
Start with the naps and then move on to night time. It takes time, but now, with 2 under 2, it's a life saver as he goes to bed independently.
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Honestly, My biggest tip would be try setting up the floor bed in his room! And try aiming to make sure naps take place on his own bed before you expect him to end up sleeping through the night there! We had been cosleeping since night one & as soon as we took down his crib & set up a floor mattress our son started requesting to go down there on his own