You could consider a side bed with walls that attached to the side of a normal bed. Your kids could still stay close but not literally be on top of you and they might find it fun to have a little fort area. Then when they got used to that, start working on their own rooms. Something like https://www.amazon.com/hiccapop-Convertible-Toddler-Reinforced-Anchor/dp/B01NCUDQAJ/ref=zg_bs_166872011_5?_encoding=UTF8&psc=1&refRID=E9A84DSMBY4M3W3YFAEM You can put it next to your bed if there’s room and eventually move it to another room.
I bought one off Amazon that works wonderfully.
hiccapop Convertible Crib Toddler Bed Rail Guard with Reinforced Anchor Safety https://smile.amazon.com/dp/B01NCUDQAJ/
Note with this one, you do need to make sure it works with your crib, or are comfortable with slight DIY modification. There are others, too, though. Buy with confidence. Plenty of aftermarket options.
This bed rail for he doesn't fall out of bed when he moves into his toddler bed. Children need to toughen up and learn how not to hurt themselves. It's natural to get a few bumps and scrapes.
we had one of those cribs where the sides came off and you could put up a toddler rail. But you could also just put up a toddler rail on a normal bed (I actually use one with 6mo on my king size bed infant so I can sleep/nurse her on the outside of me in the morning rather than putting her in between me and my husband.
They make "bumps" too. Kind of like bumpers at a bowling ally that you can put on either side of the mattress so they won't roll of without considerable effort. These are kind of nice because you can just leave the mattress on the floor if it still makes you nervous.
Some examples just on amazon:
https://www.amazon.com/dp/B01NCUDQAJ/ref=cm_sw_em_r_mt_dp_SL9XFbVVG96KR