I've had 4 kids and every single one of them has been an in-bed-baby. My first stayed in my bed until she was about 5 and the 3 younger ones (all boys) started venturing out of my bed around 3 or 4. Our youngest, 2.5 also, is sort of out of bed with us. Mostly because we're no longer sleeping in our bed, but now on a mat on the floor and he sleeps on the chair above us. He still crawls in with us on a nightly basis though.

I don't think having the kids in bed with us have ever affected our sex life negatively. Just like you, we just came up with other places to have sex while the kids are sleeping. Instead of in bed, we'd use the bathroom or since all the bedrooms are downstairs, just have sex upstairs. You make it work