My son turned four in June, he has been with me for 2.5 years, he is only just ready for his own bed.
He slept with me from day one, usually I would get in my bed with him and once he had his story etc, cuddle to sleep. Then when he was asleep I would read, work on my laptop, watch tv on my laptop with headphones in etc. That went on for just over a year, I was then able to get out of bed when he was asleep.
In March he started sleeping in his own bed and I could leave him in it awake as long as we had done story, kisses and cuddles. He would then get in my bed at about 4ish when he woke up.
A few times recently I have said no, taken him back to his own bed, had a quick story, cuddles etc and he has happily stayed there until morning. I’m aiming for him to continue being happy doing this some nights so in the future my boyfriend can stay over when he is fully happy with going back in his own bed and it’s well established.
We also do skin to skin cuddling which works really well if he is unsettled, ill, upset etc, it doesn’t just work for young babies.