Infant Sleep Positions

Has anyone figured out the true scoop on infant sleep positions? Of course tummy sleeping is out because of the SIDS risk, although it’s crazy that our parents were told to sleep babies on their tummies. Is cosleeping safer or more dangerous than putting a baby to sleep alone? Different parenting philosophies differ here on what seems to be a factual question. And is side sleeping really more dangerous than back sleeping?

With all three of my newborns, I’ve felt like back sleeping was torture for the baby… they continually wake themselves with that falling/grabbing reflex and sleep hopelessly lightly. So I often side sleep them with sleep positioners. But then I freak out and resolve never to do it again when they manage to roll to their tummies from their sides accidentally. Angelina, my 3 week old, has done this already just by kicking her legs.

We also cosleep some in the beginning if it helps everyone get more sleep.

Is this totally unorthodox? Do you back sleep your babies and not think twice about it? If so, how do you keep them comfortable on their backs?