Everyone keeps telling me he is too old and I am spoiling him, but honestly some nights I love the closeness. When did your children move to their own room, and how did you do it without weeks of crying?
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My son didn't start sleeping independently until he was six, and he turned out perfectly fine. Some children just need a more gradual transition.
This was exactly our experience too. We moved a mattress into his room first and I lay with him, then slowly reduced it. Took about a month but no drama.
There is nothing wrong with it. Half the world co-sleeps. Do what works for your family and ignore the noise.
We used a reward chart and a little torch he could control himself. Giving him some control over the room made a big difference.