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I wouldn't be comfortable with it until about 6 months, when they can sit up, roll over, and are starting to crawl - when they have motor skills down and can "save" themselves from suffocating. However, we do have a memory foam mattress. Since he doesn't weigh enough to sink it down at all, I haven't worried. DS1 slept on it too. Maybe you could go shopping for a suitable mattress topper for your guest bed that is more comfy, but safer?
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