Excellent point about the bed.
Crates training sounds cruel but it is fine if you do not neglect them..
Most will find that if a dog is crate trained, they will sleep in that crate even if it is in the bedroom and the crate is open.
Mine may sleep at the foot of the bed occasionally.
Crate training in not only not cruel it is kind.
A dog left on it’s own will seek a secluded space to sleep. A crate with the door open gives the dog 3 walls and a ceiling of security.
We always had the open crates in our bedroom and the dogs would choose where they would sleep at any given time; beside the bed, in the crate, by the door or wherever.
I always felt quite secure with that arrangement.
Pretty much too late for the OP though, unfortunately.