There are many mamas on MDC who have no regrets, sleep with their older kids and don't post about it necessarily. I know this because two years in a row I started a older-kids bedsharing thread, and these mamas came out of the woodwork, so to speak.
I have no regrets, but not all is exactly as I would like it.
What I don't like:
This has only a little to do with bedsharing, but my girls like me in bed with them, even while they are falling asleep. Now they are older (6 and nearly 8) they need less sleep and take longer to settle down. I need a lot of sleep, so most nights by the time they are asleep I am drowsy, and dh is drowsy too and I just go to sleep.
They don't sleep in as long in the mornings after I get up. Still working on this. We homeschool, so there is no pressure to get up. They both sleep a bit more soundly in the morning, and my oldest doesn't mind if I get up without her.
The bed is getting a bit squeezy, even though we've put two beds together. If I get up to pee I have to bulldoze a space in the center. I could climb in dh's bed alongside ours, but we are not very compatible sleepers.
What I love: (a smaller list, seemingly, because I don't have to explain myself):
Warm bodies to cuddle with. Talking with them in the dark before sleep. I love that at the end of a stressful day we can cuddle all night. I am convinced it eases our days.
No, I have no *regrets* whatsoever. All of the stuff that I could change about our situation doesn't necessarily go hand-in-hand with bedsharing. It has resulted only from my particular responses to problems that have arose. I still have no regrets.
ETA: we had no problems with mobility when they were little. We had two beds crammed together, and they were always either between us, or by the wall. The futon is a little lower than a standard mattress. One dark morning, though, when dd2 was about 18 months, she just got up and walked off before I could wake up enough to say anything. Pitch black, she walked right off the end of the bed. Thud! Then, out of the dark comes her little voice, "I plopped!"