This is a tough one because it's every night. My 5 yr old does this, but only occasionally, maybe once or twice a month. Like you, OP, it's hugely disruptive of my sleep, while my DH barely notices and goes right back to deep sleep. But I tolerate it because (1) I think it's just that she needs comfort, either from a bad dream or she woke up and felt lonely, and of course I want to comfort her, and (2) it really is only occasional.

One question I have -- what's her bed setup in her room? We moved our DD to a full size bed a while ago and I can't recommend this enough if you have the space. It allows one of us to sleep in her bed with her if she needs it and is much more comfortable for everyone than all three of us in our queen size bed. If this is a possibility, you can also assign your DH as the one who goes in to sleep with her when she needs it, since he falls asleep more easily. In our house, I'm often the one to go because DH has to get up very early for work and this ensures that he doesn't wake both DD and I up when he does so. I actually sleep pretty well in her room.

But I don't know, maybe in your situation it would make it worse, since it's a nightly issue. But thought I'd mention it if the main goal is to just ensure everyone gets a good night's sleep. It works well for us.

Put a sleeping mat with blanket or a sleeping bag on the floor in your room. If she wants to come over to your room, she can sleep there, but she cannot climb into your bed and wake you up. Explain that it makes you tired and makes it harder for you to work and be a good mother the next day. So you need your sleep. She can sleep on the floor or go back to her bed, whichever she prefers, but ask her not to wake you up.