I wet the bed with decreasing frequency until about 4th grade. Often enough that it was a thing, but not weekly or even monthly (but sometimes several nights in a row, or once a week for a period).
The last time I remember having an accident (that was not college or later and involved heavy alcohol use) was after the first day of 6th grade at a big public school. It did happen twice at summer camp, which was mortifying and stuck with me the whole time I attended.
My parents fretted about it a lot, discouraged me from attending sleepovers, until I was probably in 2nd grade, would get me up to use the bathroom before they went to bed, and later set up an alarm clock for me at 2am. Those things helped and weren't bad ideas, but were stressful.
Doctors were never particularly concerned because it wasn't very frequent. The last time it happened, my mother just said, "well, you had a big scary, stressful day, let's hope it doesn't happen again." That made me feel better, and it didn't happen again.
Then I had a son, who is disturbingly like me in SOOOO many ways, and well after being potty trained, he continued to have accidents, about as frequently as I did. We had him wear pullups for a long time and he would pee in them. We had a nanny who had a son slightly older than DS, and she would watch them while we went out and her son would stay over, and one time I heard him saying something to his mother about DS still wearing "diapers". We tried weaning him off them, and it just wound up having to change sheets. I tried doing what my parents did, waking him up before I went to bed, and that helped somewhat, but was not easy, and was unpleasant for all of us, and resulted in me having arguments with a 75 percent asleep 5.5yo about whether he would go pee or not, and half the time I had to mop up the bathroom because he was not awake enough to aim.
Talked to a doctor, and like with me, they didn't seem alarmed. Said he was still in the window of normalcy and wasn't happening so frequently and wasn't having any issues while awake. They suggested an alarm, which seemed weird and draconian, but since a doctor suggested it, we thought we'd try it.
Got a well-rated one, it had a little speaker attached to a wire, with a moisture sensor that clipped onto his underwear. First night, put him to bed, feeling very bad, and about an hour later, he wakes up crying, the alarm blaring and his pants completely soaked.
Second night, WE wake up because we hear the alarm, and he's sound asleep, pants soaked.
Third night, alarm goes off, he wakes up, runs to the bathroom and goes pee, underwear barely wet (he stopped himself).
Then, never an accident ever again. It worked and was, in retrospect, not very stressful—much less stressful than my parents declining sleepover invitations, waking me up, setting alarm clocks, etc.
I'm someone who has to go to the bathroom a lot—always have been, have been checked out for any prostate issues, etc, and I think I just am someone who has to pee more than most people do and I'm well hydrated. I think my son is the same way. And, I think we were both kids who just for whatever reason were not motivated to deal with it—there was no physical problem, stress didn't help, but we just didn't wake up. I finally grew out of it, and with a little bit of coaching, my son grew out of it much quicker.
My wife and daughter can both sleep for 12 hours without peeing, and my daughter potty-trained herself completely at 2.5, and the day she put on underwear was also the night she went to bed in underwear and hasn't had a nighttime accident since.
TLDR, if your doctor says there's no major issue, ask about something like an alarm, treat them with a lot of love and support, and I'm sure it will go away.