DS goes to sleep in his own bed. If he won't re-settle at night then I get in with him or he comes in with me and I sleep. He plays for a bit then goes to sleep without me needing to do anything, just be there.

I figure if he's seven or eight and scared and needs comfort then he'll feel safe coming to me for a hug, even in the middle of the night. We go in phases where I'll need to sleep with him for a few nights running, then he sleeps pretty well again without me. It's rare he needs me these days at night (for co-sleeping) and I miss it, so I'm not at all worried when he wants me around. It's nice to be needed!