Babyella, I would put an old ratty towel beside the litter box/newspapers for her to walk across when she finishes her business. That way, she'd be wiping her own feet and you can throw the towel into the wash when you need to.
I'm not as nice as you. If my pup ever poops or pees in my bed, that would be the end of his sleeping in my bed! However, Joey isn't normally allowed to sleep with me anyway. You could try limiting food and water intake for the last couple of hours before bedtime so that she is less likely to need to go during the night.
Good luck!
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