I would say I sleep-trained. I never had any issues whatsoever with my child sleeping. And she was asleep by 7.30 every night.
She always had a bath at around 6. A nice long happy bath. She had her hair washed (this is important because of the effect of water on the scalp, the calming effect all together of a properly-conducted bath and rubbing with a towel afterwards). The sensory experience of water, fun, relaxation, skin stimulation, cold to warm to cold, to snuggled up, is significant.
Then when her hair was dry and she was all nice in her pyjamas, into bed. Choose a story. And I lay next to her. And read to her. Sometimes for ages because I love it too, and/or I told her a story. And then we had a ritual of cuddling her toy(s), and she had to close her eyes if she wanted a song. And then I would sing softly to her, and stroke her eyebrows. Then she went quickly to sleep. As soon as we started the song it was triggering her sleep response.
Then I quietly left.
And every night, around 2.15am, she came out of bed, her feet padding across the landing, and she got in next to me and her dad.
And we all slept like babies.
And then this coming in to us stopped, naturally, when she was about 8/9.
And she;d done it from a baby, we'd adapted her cot so she could get out in the night, because originally she started swinging herself over the top in a vault to get out haha
And that is my method. And I have children so I can be a mother, a parent, and look after them, and I loved every second of doing this for them.