I have the same issue, my girl is in between us every single night after waking up. To the point now I feel like we need a bigger bed. When realistically I just want her to stay in her cot x
I found mine was doing it out of habit so for a few nights it took ages to re settle and be strong that it was their bed and eventually we stopped putting him in with us
My little one slept through from 10 weeks to 12 months. Since then she has slept like a newborn 😅