I still because with my 18 month old.
When he was first born, he wouldn't sleep anywhere but on me. Which was blood dangerous! He could have rolled off me and onto the floor! We needed that sleep, we needed whatever we could get to survive without losing our sanity.
Throughout the first 12 months, I wouldn't say I slept per se. I lightly slept, so whenever he stirred, I was up instantly whilst attending to him.
My HV gave me some brilliant advice that made it much less worrisome. DP was behind me, I was in the middle, DS was on the other side of me. I used the C shape to sleep next to him. Duvet on my legs. At the edge of the bed, we wedged in his Moses basket. So if he did roll, he would roll straight into that. Took alot of the worry out.
DS also used a sleeping bag because he kicked off the blankets. I always checked his temperature and as he fed multiple times during the night this was not an issue.
You will be aware of your baby far more than people think.
Follow the rest of the SIDS advice and I'm sure you will be fine. It's finding what works for you and baby too. That's the key.