One obstacle we've run into is he's learned to roll over to his tummy - while being swaddled! It freaked me out at first. I would wait until he was asleep & then roll him back over. But sure enough, every time I'd look at the monitor again, he'd be back on his stomach. We tried to start weaning him off the swaddle blanket but he just wouldn't sleep as long with one arm out. I've finally accepted that if he's happiest on his tummy in the swaddle blanket, that's fine. His head & neck are strong - he can move around even with both of his arms pinned in the blanket. Since then, we've all slept better. Can't argue with that!
Here are some pictures of my little caterpillar. It doesn't look that comfortable to me, but what do I know? :)
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