I had jenna in a cot in our room until she was about 6.5 months - it ended up being a month too long as we found we were actually keeping her awake with our noises.
The transition to her room after that was a VERY smooth one for all involved! We got heaps more sleep and so did she. It also meant we could listen to her night noises and know whether she needed us or if she would put herself back to sleep as we were very familiar with what she did during those noises if that makes sense? Like we knew when she grunted a certain way she was wriggling out of her swaddling, or when she breathed a certain way she was just rolling over.
Also there is something very special about waking up to those little eyes every morning. Soooo nice