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It doesn't really matter what it's called, but yes, I'd say that you cosleep. The major thing to remember is that even if it's only once in a while or for short periods, you still need to think of yourself as cosleeping so that you take the necessary precautions. Cosleeping tends to be relatively safe for people who plan to do it and thus make sure not to have lots of blankets, pillows, etc., around; don't use drugs or drink alcohol during that time; etc. It's less safe for people who don't mean to and then end up cosleeping if they aren't taking these precautions.
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