My DDs now 4 and 6 have been in and out of our bed since birth. They have had stretches where they slept in their own beds and then with us. Older daughter slept in our bed/room until younger daughter usurped her place. Took us forever to wean them into their own beds/rooms. Changes all the time. Relapses happen the most when one of the kids get sick.
This is our longest stretch where we have gotten our beds to ourselves. It's been about 2-3 months. Our DD6 has always been a good sleeper and is pretty good now about sleeping in her own bed. She hardly comes over and when she does, I walk her back to bed and I stay with her until she is asleep again.
DD4 has never been a good sleeper until recently. She had a lot of dreams/nightmares where she cries or yells in her sleep and sometimes wakes up crying. Her "favorite" dream is her yelling "stupid Emma!" Her sister is always eating her food or doing something in her dreams! Sometimes, when she was a lot younger, she couldn't calm down, any little movement would set her off and she could literally cry in her sleep for over 30 minutes. I usually carry out to the living room and sit with her on the sofa. So, for about 2-3 years she was waking up and waking ME up at least 4 nights a week - sometimes in her bed, sometimes in ours. It was easier for me to calm her down in our bed at first but as she got bigger (and as someone said, the bed did not), it was easier to drag myself out of bed and calm her down in her bed. I probably slept a 1/3 of last year in her bed at least part of the night.
DD4 would sleep in her bed for a while but relapsed quite often after getting sick and even after she is better. She finally has been sleeping better at night. Now when one of the girls wakes up in the middle of the night, I would rather sleep with them in their beds rather than have them sleep in ours. Sometimes, I'm too tired to move and let them stay with us but that doesn't happen too often. When one of them is sick, we let them stay in our bed if they are good about taking their medicine with the understanding that when they get all better, it's back to their own beds.
I totally understand about not sleeping well when the kids are in the bed with you. My DH hates it because the kids always kick him or crowd him until he's hanging on the edge of the mattress! Lol! He refuses to move and sleep in their beds. Their nighttime moments didn't seem to bother me the first few years. But lately, I just don't sleep well when they are in the bed. When they are sick and get to sleep in our bed, I usually sneak into their beds sometime during the night in order to get some sleep.
Sorry, no real advice. They do seem to out grow it eventually. Those 3 nights where they do sleep on their own are gold! Maybe get him a bigger bed and sleep with him ocassionally instead of allowing him to keep coming into your bed. It's easier to leave his bed then to carry him back.
LOL! This reminds me that I slept with my Mom until the 6th grade when we moved from a house into an apartment! My dad had to sleep in my canopy bed for about 7 years!

Mom and I had a king bed - 2 twins mattresses together. I never let my dad in the bed because it was MY bed! I was always scared to sleep by myself in that old house. There were a lot of "noises" in the house. The only times I remember sleeping in my own room was in the summer. But everytime I did something bad seemed to happen. I still remember vividly one night when I slept in my own room, the next morning my mom told me that a relative had died. Once we moved to the apartment, I had no trouble sleeping by myself.
Now I laugh about it with my parents. I always say " NOW I know why I'm an only child!!!!"
