HI,
First off, don't be embarrassed! We've all gone through things - we try something, and if it doesn't work, we need to re-group and re-assess.
You have to decide what your philosophy is. If you want to co-sleep, then co-sleep from start to finish. I didn't do this, so I don't know how you have privacy with your husband or get them out of your bed at 6 or 9 or whenever! If you want her to be in her own bed all night, then she needs to learn to stay there, to self-soothe, etc. You can cry it out or not - just choose a method and stick with it! We did cry it out - I know not everyone loves the idea, but our pediatrician recommended it - it was 4 tough days and then all was peaceful. We went in to soothe him and pat his back, but we absolutely did not pick him up or even change his diaper unless he was soaked. The consistency is more important than the method - the kids get confused if parents try a different tack every 4 days.
The main thing is now, you're not sleeping, and neither is your daughter! So these interrupted nights are hard on everyone. I think the idea of having your husband go in is a good idea - if she only wants Mommy now, have him be the soother and "settler-downer".
My stepdaughter and her husband just went thru this with their 6 year old - he would wake up and come into their bed. He's a restless sleeper, so his mom would get up and go sleep in his bed. My son-in-law said, "Every night I go to bed with a beautiful woman, and wake up with a 6 year old crotch-kicker." So they ended that practice pretty quickly!
By the way, I love your comment of "happily one and done" - I have a single child (and I never say "only" child). There was a post recently by a woman struggling with having one child. I wish I had known your phrase to help console her! It's a great one!
I also love you