I know some will say that if you can be friends, you can stay married. That didn't work for us. We are still friends, and very close in some ways. There are a lot of reasons why we are all doing better in two households instead of one. Being able to work together to raise your children is so important, and gives you more options than couples who can't cooperate.
We used a mediator instead of lawyers to write out our divorce agreement. It was sooo much less expensive and not at all antagonistic. We met with the mediator together and talked through finances, schedules, and anything else needed to put together the agreement. Then we needed to hire a lawyer (one, not two, although some couples do have separate lawyers review the agreement) to put it in the format and language the court needs to see.
Neither of us pays "support" to the other. We have a joint checking account that is for the purpose of supporting our daughter's needs. We each deposit an agreed upon amount (based on our incomes) into the account each month. We each use this money to buy clothing, school supplies, pay for piano/swimming/karate lessons, daycare, summer daycamps, etc. for our daughter. As a joint account, we each have visibility into the account transactions and trust each other to use the money wisely. If there are bigger expenses, we discuss them first.
More schedules are 50/50 these days, if both parents are involved. Our schedule looks like this:
My time with my daughter:
Week 1 - Sun, Mon, Tues, Fri, Sat
Week 2 - Tues, Wed
Repeat
We've been doing this since our daughter was 4 1/2, she is now almost 9 and it still works for us. Some will say that frequent change is not good for kids, but for our daughter (and us) a whole week would be way too long.
This schedule does require a bit more cooperation, maybe, because of the frequent changes. If something is forgotten, both need to be willing to bring the lost book or sports equipment to where it needs to be, for instance. Both households have equal clothing, toys, etc. School stuff stays IN the backback as much as possible. If we were living farther apart, this schedule would also not work. We are prepared to change this if, when she is older, this doesn't work well for our daughter.
We also have dinner together as a family fairly regularly - once every other week or more. And occasionally plan a family outing with our daughter. We've learned to be flexible with these plans - if it doesn't feel like the right time for any reason, we'll just do it another time.
Again, most divorced people will think this isn't possible, but for us, it is. We had been together for 25 years, raised two (step)children together and have three grandchildren, along with our 9 year-old. We will always be a family, just not a traditional one. It's not that we never disagree or fight, we do, but we decided to be co-parents, not single parents.