Horses for courses etc (and I particularly appreciate that for many children, their parent's presence is a stimulus which stops them from sleeping.)
However. I still stay with DS (4yo) while he goes to sleep most nights. He's at nursery almost 10 hours a day without me, it's an important bit of reconnecting time for us. After a story (which is way quicker than some on here! 10 mins max and often less. Not sure how long that will be when he's reading 'older' books?) it's about another 10 mins and often less. At about 7.30pm, so loads of evening left for me after.
I don't think I have made him 'reliant' on me by doing this: when he's slept over at my mum's, she lies with him and he settles with no issue in a similar amount of time. (This was also true when bf was a part of the bedtime at home, which was about when he turned 4.)
If he messes about, I leave him as I'm not going to stay with him while he does that. He's briefly upset by this when it happens (rarely) but he does still stay in bed and go to sleep alone no problem.
And some evenings (also quite rare) he'll happily ask me to leave and then go to sleep alone, on his own initiation. That sounds an awful lot like he's learning (learned) to self-settle, without me pushing him to.
I don't think this is the One True Way of bedtime, but I never like the 'rod for your own back' argument. I bf him to sleep til he was 2, because that was fine for us both, and when it was a problem for me I stopped it without issue. No rod. I bf him as part of bedtime until he stopped it himself just short of 4 - no rod. I lie with him while he goes to sleep at 4, but if I've left because I'm cross/busy he can manage, and sometimes he asks me to go - no rod.
You don't have to treat a baby as you would a 10yo. Children do understand change - sometimes they even initiate it.
I think I'm just lucky that he doesn't even think of getting out of bed after bedtime, though. I'm sympathetic when I see 'look how my child has trashed her room after bedtime' posts on fb cos I wouldn't know how to fix it immediately.