Could you live with the co-sleeping if you still had a normal sex life?
Excellent question. My answer is affected by practicality concerns. When would this normal sex life take place? I just don't see her setting the kids in front of a DVD and sneaking into the bedroom for some nookie. Yes, the kids are in school a fair amount, but most of those times either she or I is at work. My thinking was that if we slept together we would have time to chat every night, even if we don't ML that often. Put the kids to bed and have a few hours together outside of bed? Sounds great, too, but it just doesn't happen.
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What if you successfully get the kids in their own beds and she won't sleep with you anyway? In fact, it sounds like this is what would happen because she'd be angry at you and lonely for the kids.
That's exactly why I haven't acted unilaterally. My C advised me to get the beds, but you are right that W may see this as an affront.