I love to spend the first part of the morning wearing an oversized t-shirt. DH loves to change into a t-shirt when he gets home from work. Each night when it was bedtime, I would grab DH's t-shirt from the prior night, and mine that was usually worn 2-3 times from the laundry basket. DS would lay on top of one and have the other one as a blankey in addition to his special blankey. We also did co-napping so DS wasn't completely cut off from sleeping with us.
BTW, if you are into tenting, co-sleeping is a blessing. Your child is used to being in the same room as you and has no problem sharing a "room" with mom and dad in the tent. I recently heard a tale of woe of a horrible summer camping because the children weren't used to being that near to their parents.