Co-sleeping is considered safe if you do it properly and take all the right precautions. Look up the 'Safe Sleep 7'. If it's helping you to get some good sleep then don't feel like you need to change it.
I’m 18 months in and still co-sleep on a floor bed and nurse to sleep. I find it easier this way!
Feed to sleep is the fastest way to get my girl to sleep, why do you need to change that?