Its all about managing risks isn't it? Well it is in my world anyway. I fully accept that I could not eliminate all risk in life, so accept various things by acknowledging there is a risk and deciding that, on balance, I am happy to manage that risk.
For example I was still a smoker when I had my first two children. I still co-slept sometimes though. I knew it was a risk.
I also found that by around 5 to 6 months old my children were ready for "bedtime" since they were no longer napping late evening, they were going to sleep and staying asleep. So at that point I started putting the child to bed (cot in my room) at the child's bedtime and got my evenings back. recommendations state child should stay in same room as parent at all times until 6m, so this was a calculated risk
I have always swaddled quite tightly for the first 6 weeks - against SIDS recommendations.
Whilst moving baby's cot out of my bedroom before 6 months would be a risk too far for me, I would be hypocritical to say because it is against SIDS recommendations you shouldn't do it.
Managing risk in an informed and knowledgeable way is part of parenting. The only time introducing risk is inherently dangerous in itself is when that risk is accepted on ignorance, without realising the scale of risk being taken.