My daughter does not want to sleep in my bed. She wants me in her room and her bed is in a tent on the floor. It kills my back as I have severe back problems. Also she feels me move as soon as I try to leave. So I sleep with her for nap and some of the night but try to leave.
Not sure how you feel about Cosleeping but my 3.5 year old starts the night in her bed and usually within a few hours comes into our bed. She sleeps so much better beside us. Which is normal and suggested in a lot of the world. It works for us