My kids breast feed until like 24 months and my five year old still sleeps with us. We don't really have any modesty concerns. My wife and I have sex when they are at school or a different room while they sleep and I don't really care about nudity amongst family. We have two large beds so everyone has plenty of room and there isn't a lot of bumbing.
Don't get me wrong I want them in their own bed but it sure is hard to get them to do that.