I'm a single parent. My kid had his own bedroom set up from around 2, around 3 or 4, I made sure he knew how to come find me in the middle of the night, and started putting him to bed in his own bed, and if he wanted me in the night he'd come get me. We had a sticker chart that wasn't "don't stay in your own bed" it was "don't wake up mommy", if he came in and climbed in quietly, he still got a sticker. He gradually woke up less often, and then he was done. No big deal.