Well, I loved sleeping with mine too, (hubby on the floor but we had been together for many yrs so not a problem - it might be for some) and not always 'bad' to do that. If thats what your heart is saying, perhaps you should do that? My ds is now 7 and doesn't seem to have affected him negatively, nor me, nor our relationship - either hubby or ds. It was just necessary at the time so we could get some sleep.
I think, 'stay calm' and make less of it - its a very normal phase to go through.The heart is always a better judge than the head in these things. So long as you don't let your dd become a 'weapon' between you.
If there is enough floor space, you could sleep in her room too - if not, put a cot in your room and move her into it from your bed when she's asleep? Or let her sleep on - but the cot is there as a 'sign'.
Most of all - be 'together' with your dh - because the last thing any dd needs is to cause disagreement/division - so if you can agree to agree, whatever you decide, that's best for all of you in the long run.
Its whatever works for you - there are no rules. In some cultures it would be unthinkable to have such a young child on their own - in others, they'd never have them in the same room as the parents from day one. Hope this helps :) it sounds a bit vague!
Just be 'a unit' with your dd again like when they're tiny?