No, you havnt broken them ❤️
I'm in therapy as an adult. Under a psychiatrist and a weekly psychologist.
My mum was amazing when we were growing up, she dedicated her time to us - we had fabulous holidays, she helped us with homework, she taught us how to cook. We did well at school and she pushed us to be the best we could be.
What my mum didn't meet was my emotional needs. She pushed me to be Independent before I was ready and I'm still traumatised making phone calls to this day ( had a massive fear as a child and my mum pushed and pushed me to work through it)
What my therapist has helped me to realise is that what I needed as a child was to feel very loved, very secure and very accepted and by being forced to sleep in my own bed it was traumatic, by being made to make phone calls it was traumatic. Being separated was traumatic.
I guess I'm trying to say, to bring up happy and successful adults children first and foremost need to have their emotional needs met - and yes, your children's needs may be a learnt behaviour ( why would they wanna sleep alone if they have never had too) but they are needs just the same.
You can absolutely make some changes with regards to toileting and independent sleeping, but make sure you are filling your kids " emotional" bucket some other way or this could be quite traumatic shift.
You sound like a very lovely, and considerate mamma xx