DS goes to sleep in our bed most nights while we lay with him, we move him to his bed around 10ish. He then sleeps in his bed for most of the night and often will wake and call out for cuddles about 4ish at which time he climbs back into bed and we all fall asleep again, we all get a great nights sleep

We get the jibes from family all the time. MIL has already commented about what will be do when DD arrives (we'll probably have four of us in the bed then ) and we get the jibes about 'making a rod for our backs' etc etc

As we currently all get enough good sleep this way it's all good here, it works for our family 99% of the time (some nights though are annoying if DS is restless)

If you and your baby are happy and getting enough sleep, then keep going with it, sounds like you are on a winner to me