I have never found so-called sleep experts any use at all. The advice is always so harsh. I have not been able to let my child CIO and this has resulted in some nights of less than great sleep, but other nights that have been much better. On the whole co-sleeping works for us, and it's something we have adapted as she's got older. She now has her own bed and I lay with her whilst she goes to sleep and then I sneak out. I only return to her when she shouts for me at night. This may be anything from 11pm until 5am.
You just have to do what works for you. No-one is a perfect parent, being a good parent is about adapting to the needs of your child, whatever they might be. I've given up caring when anyone else thinks.