I've experienced this with all of my kids and I can tell you for sure that they WILL grow out of it! Some take a little longer than others but seeing as we don't have a 10.5 or a 9yo in our bed ever, there is some merit to that theory lol.

I still get Sir 5 and Lady 3 sometimes come to me during the night. Sometimes both of them together which can get squashy lol. I welcome them with a cuddle and take them back to bed when they are asleep. If I go back to sleep and they spend the night with us so be it