I feel the same way. My LOs are now almost 7 years old and 3.5 years old. We just started transitioning them to their own room, which they share, in July. It's kind of silly, actually, because we all still end up sleeping together. We just play musical beds all night and I get even less sleep. We originally tried their bunkbeds. Dad and I would take turns laying down with each of the boys but one of us big people having to climb onto the top bunk was getting ridiculous. Now their bed is just two twin mattresses on the floor next to each other because neither will lay down and go to sleep alone.
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We first put the boys to sleep in their bed, during which time both dh and I fall asleep. At some time during the night one of us will wake up and go into our room. I'm usually the one to wake up first so I try to get dh to get up and come in our room since the whole reason for doing this was so that we would have time together, as you said not for sex but just to be close. Sometimes he gets up then and sometimes it's not until much later. So then a lot of nights I end up sleeping a portion of the night alone in my room. Then at some point our almost 7yo invariably wakes up and climbs into bed with us. The 3yo wakes occasionally and comes in bed with us but he is more likely to stay the whole night in his room.
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Last night I wasn't feeling well and went to bed early. I heard dh getting the boys to bed in their room. I know he was doing it because I felt bad and he thought it would be better for me to be alone rather than having the LOs squirming all over the place next to me. It made me very sad, though, and even a little angry that dh would keep the kids away from me. It didn't work anyway. 7yo ds insisted on going to bed with me, which was fine with me. DH and 3yo ds slept most of the night in the boys' room but both did come into our room around 4 am when ds woke up and said he wanted to be with me. Again, we didn't get our intimate time together. As a matter of fact, it was even worse because dh and I were in separate rooms rather than just on opposite sides of the bed.
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I'm ready to give up trying to get the boys to sleep in their room. It's just so much easier and I get much better sleep if we all go to sleep together in one place and stay there. Even if we do spend all of this time trying to transition them to their own room, once dh deploys again in the spring, they'll be back in bed with me just because it's easier. The only thing that concerns me at this point is that I'm pregnant and I don't know how the sleeping arrangement will work once the baby comes. Both boys insist on sleeping next to me atm. My 7yo might be mature enough to agree to sleep on the other side of one of his younger siblings by then. We shall see.