I co-slept with my first daughter and am doing it for most of the night with my younger daughter as well. With my first, I was pretty uncomfortable most nights because I slept on my side and my arm was in weird positions making sure she didn't roll off the bed or get smothered by my husband or dog. I switched her from side to side all night because it's way more comfortable than nursing from the top breast while laying down. I slept with a pillow between my knees and it really helped with some of the hip pain.
With my younger daughter, I am WAY more comfortable. My husband sleeps with my older daughter, so I have the whole bed to myself. I also swaddle her, so I don't need to be right ext to her the whole night. I put her in the Rock n' Play for the first part of the night, so I get some really good sleep for part of the night.
I can't remember when the latching got really easy in the dark. It does get easier though!