| i co-slept with my parents until i was about four. my younger sister kate co-slept with us until the same time (although she was two at that point). we all slept together on a family futon, often with the family dog asleep at the foot of the bed. i think they booted us out for the reasons you're describing - they wanted their bed back, damn it. so we got our own beds and our own bedroom. i however woke up like clockwork every night, kicked my father out of his bed (he would sleep walk through to my bed and sleep there for the rest of the night) and get into bed with mum. that went on for quite some years, i don't think they weaned me of it until i was about nine!! so if you are thinking of putting them in their own beds make sure you make 'em stay there! i didn't even particularly feel the need to get into my parents bed, it was just habit. so it's not like you're depriving them of anything, i don't think.
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