Hi,
Am also inspired to write after the aibu thread.
With my babies(I have 4) I co-slept and bf on demand for the first 3 months or so, the started putting them back in their cots after a feed, but none of them ever cut down on their feeds on their own, so when they generally reached about 6-8 months I stopped feeding them after 10pm at night.
When they cried I would sit next to their cot and patted and comforted them but didn't pick them up.
It was hard to do, prob harder than controlled crying as you had to sit with them whilst they were upset but I never felt like I was abandoning them.
It didn't take long either, only about a week.
I hope it helps.