My DD is a bit younger (2.5 yrs) but she just started sleeping in her own space. Until a week ago, she slept in her twin bed, which was pushed up against my queen bed, mostly so she wouldn't roll out of bed.
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I've now split our beds apart, putting a bedrail on DD's bed (the other side is pushed against the corner). I put a nightstand between our beds and put a little "electric aquarium" that lights up on the nightstand. I promised DD we could decorate her corner of the room with wall stickers; she asked for butterflies so that's what we got her. For a few days, I enthusiastically talked about her corner of the room and how she's a big girl now. So far, she goes to sleep there and somewhere in the middle of the night, from about 3 a.m. to 6 a.m., she'll wake and walk over to my bed. I'm fine with this arrangement right now.