Near-sun sky twilight observations allow for the detection of asteroids interior to the orbit of Venus (Aylos) and the Earth (Atiras) and comets. We present the results of observations with the Palomar 48-inch telescope (P48)/Zwicky Transient Facility (ZTF) camera in 30 s r-band exposures taken during evening astronomical twilight from 2019 Sep 20 to 2022 March 7 and during morning astronomical twilight sky from 2019 Sep 21 to 2022 Sep 29. More than 21,940 exposures were taken in evening astronomical twilight within 31 degrees and 66 degrees from the Sun with an r-band limiting magnitude between 18.0 and 20.8 (5th to 95th percentile), and more than 24,370 exposures were taken in morning astronomical twilight within 31 degrees and 65 degrees from the Sun with an r-band limiting magnitude between 18.2 and 20.9 (5th to 95th percentile). The morning and evening twilight pointings show a slight seasonal dependence in limiting magnitude and ability to point closer towards the Sun, with limiting magnitude improving by 0.5 magnitudes during the summer months and Sun-centric angular distances as small as 31-32 degrees during the spring and fall months. In total, the one Aylo, (594913) 'Ayl & oacute;'chaxnim, and 4 Atiras, 2020 OV1, 2021 BS1, 2021 PB2, and 2021 VR3, were discovered in evening and morning twilight observations. Additional twilight survey discoveries also include 6 long period comets: C/2020 T2, C/2020 V2, C/2021 D2, C/2021 E3, C/2022 E3 and C/2022 P3, and two short period comets: P/2021 N1 and P/2022 P2 using deep learning comet detection pipelines. The P48/ZTF twilight survey also recovered 11 known Atiras, one Aylo, three short period comes, two long period comets, one interstellar object, 45,536 Main Belt asteroids, and 265 near-Earth objects. Additionally, observations from the GROWTH network of telescopes were used to recover the Aylo, Atira, and comet discoveries made during the ZTF twilight survey. Lastly, we discuss the future twilight surveys for the discovery of Aylos such as with the Vera Rubin Observatory which will have a twilight survey starting in its first year of operations and will cover the sky as within 45 degrees from the Sun. Twilight surveys such as those by ZTF and future surveys will provide opportunities for the discovery of asteroids inside the orbits of the terrestrial planets that would otherwise be unavailable in conventional sky survey observations.