? None of what I mentioned would take away under bed storage?
Bed rail
Side car a crib
https://cafemom.com/parenting/123047-sidecar_your_crib_so_you
If your crib has a toddler rail that could simply the sidecar process, you know about it. If not then it is irrelevant.
Buckwheat body pillow you can Google yourself. :)