I think it depends on the child - DS is 4 and I still lift him a lot. He wants to be lifted to see what's going on at the oven, sometimes needs help into the car (usually because he's carrying stuff), I pick him up because he runs a lot, he's cuddly, he also loves dancing with me and sometimes that involves lifting him.

Not to scare you - but if your DD is really into being lifted, that isn't going to stop. (I still use my baby carrier on DS when he needs to be constantly held.)