Dear A.:
I, too, am not a believer in "clocking out" of parenting at night time. I signed on to parent as a 24 hour/day job! It sounds like you feel the same way but walking up and down the halls is too difficult for you because you need your sleep. That's because if you get up and get too active at night, you disrupt your sleep and have a really difficult day with your children the next day. The best solution I found was to nurse my children in bed.
In order to stay effective, preserve your sleep by placing your son next to you (not between you and husband) with a rail behind him. Turn to him and feed when he cries and then turn your back. Eventually, he'll get out of the bad habit of crying and trust that you're always there for him. At that point, they seem to relax at night and begin to sleep much longer. One day (all babies are different) you'll awaken to find that he didn't require nursing even once! Then you'll just put him in a toddler bed next to your bed, move it closer to the door each day and then CELEBRATE his big boy-ness by setting up his bedroom.
Family bed isn't a curse or "doom and gloom"! In my family, it lasted only 18 months and the entire time was a time of LOW STRESS and many gentle transitions. It's a way to set your course towards the ultimate goal of closeness which doesn't fade through the years...even the teenage years.
Best wishes,
M.