Co sleeping comfortably

[ALotToTakeIn]

How do you do it?
I've read the guide lines on duvet away from baby, arm between baby and pillow etc and all I get is cold and stiff from not being able to move all night.
Please tell me I'm missing something as it is really useful for when DD is growing or teething.
TIA

I wear a cardigan to keep my top half warm as yes, they do stick out from the covers.
WRT stiffness, with DD2 i have taken a side off a cot and put the mattress at the same level as ours. When she wants a feed, I scoot over to her, so I'm a bit in the cot with her and then when she's back asleep, I scoot back to bed and pull the covers up to my neck . She has her own covers in the cot.
I do sometimes take her into the bed too but then my arms and chest are not covered by the duvet. I can sometimes roll onto my back and leave my arm in place but often get stiff too. I think I get used to it after a while.

Have been watching this thread to see if there are any good suggestions as we've been cosleeping for a couple of weeks after DDs sleep deteriorated to the point that none of us were getting much sleep. I also find I get cold and uncomfortable but last night was the best night yet. I wore a cardigan, lay on my side with the duvet high on my back and tucked down below boobs at the front then lay DD in her sleeping bag on top of the duvet. I had one arm up under my pillows and the other over DD. When I needed to move and stretch I rolled onto my back and DD stayed where she was. I think it does get easier as you get used to it. Hope you manage to find a way that works for you soon!