Co-sleeping parents, did you ever get over the fear and anxiety of harming your baby in your sleep?

I nursed and co-slept with my daughter for 2 years, and she still sometimes joins me in bed. She went off to grandma's for 2 nights, and never asked to nurse again, and I moved her room from one to the other, and she loved her new big girl bed, and now wants to sleep in her own room. Which is fine. But anyway, I never worried about harming her while she was in our bed, and this was during a time when a ton of babies were dying from co-sleeping in my state. A ton. But I did a lot of research, and I knew that all of the times a baby was harmed was because of drugs, alcohol, carelessness. And none of the babies that died in my state were being breastfed. You won't crash into him. You'll know he's there. Everything will turn out great, and you'll be so glad you did it. :) Good luck.