My wife and I co-sleep with my two boys, 1 and 3.

Our sex life has probably never been better in either frequency or quality.

We typically do it in the living room on the couch in the morning before they get up, or same location during their naps, or in my work-from-home office also during naps. Or where-ever we want when we have a baby sitter, although with the pandemic that's pretty rare.

I'd say about 75%-80% of our sexual activity is essentially scheduled at least 4-6 hours in advance, sometimes more. This works great for all involved. Occasionally if we miss our window because one of them wakes up early, we just reschedule to the next soonest window. We'll occasionally even stay up late after we put the boys down to makeup a missed session.

I also think breaking the habit of only having sex in our bed at a particular time when one or the other kind of vaguely expects it is a big contributor to the improvement in our sex life.

Instead we have explicit communication about when and where we're going to have sex. There's still some room to be spontaneous, but it's very limited with kids.

Not the person you asked but I’ve co-slept three times and have some insights.

My answer would be that you do it while the baby sleeps, and you do it less. Otherwise on the odd occasion you’re away from the baby. It’s a drag. Though in my experience I was always so tired, it was generally a lower priority.

Others might have had a different experience though.

Isn't that sort of an old joke? Before you have kids, put a jelly bean in a jar every time you have sex. After you have kids, take a jelly bean out of the jar every time. At the end of your life you'll still have jelly beans left...

Obviously it varies a lot, and that is just a joke, but man it has been very true for me. My wife had a poor experience growing up, walking in on her mother having sex (they lived in a tiny apartment, so most of the space was shared), and so she has no interest in sex at all if there are children in the house. Anywhere. And it's a 3000sf house, not a tiny apartment.

Doesn't help that the kids (8 & 10) routinely choose to sleep in our room rather than their own (they do not sleep in our bed, however, we nixed that after they were a few years old because it was too disruptive to my sleep).

Anytime and anywhere you have a chance to. Be spontaneous and creative. You don't need a bed to have sex in anyways.

Secondary sleep space for the baby (we had a crib mattress on the floor in the living room for naps anyway) or secondary sex space for the parents. A futon in another room does double-duty when the kid is old enough to nap there safely.

Middle-of-the-afternoon is a good time. Older kids can be occupied with Legos while the baby naps and the parents sneak off.

This shouldn’t be downvoted. Indeed, this is something our physician brought up with us as a reason not to let your child join you.

The theory goes that children are programmed by nature to prevent more offspring. A sort of incentive here.

Looking online there are mixed reviews of whether co sleeping hurt the adult relationship.

On the couch usually.