Nothing wrong with your methods, OP. Mine were similar, though as I said earlier, I didn't breastfeed at all. They had formula from birth.
Everyone finds a method to suit them. No need for all of the nastiness on this thread. I thought it would descend into this, but did originally interpret the OP as an attempt to simply start a discussion rather than criticise.
I too was formula fed from birth, and slept in my cot in my own room from day one etc. I have no memory of it until I was about 18 months old or so. I am close to my parents too.
I did the same with my kids because I liked it. They were rarely awake when put down, and if they were they were very tired and nodded almost straight off. All slept through from just a few weeks old, and on the occasions when they did wake were never left to cry.
I guess we may have been lucky (three times over), and it doesn't work out that way for everyone.
I see no need for anyone to feel sorry for OP's children,for for mine. Several of them are adults now (mine are 22, 19 and 15) and we are close.