My wife and I coslept (and often still cosleep) with both of our children. They both sleep through the night without issue.
Our oldest goes to sleep early and will insist on going to sleep when she feels tired and will wake up with me in the morning. Our youngest fights sleep until exhaustion and prefers to sleep in (until 9-10am if allowed). They have been raised exactly the same way.
We take way too much credit for our children's sleep habits.
> can't get used to waking up mom & dad for entertainment every time your natural sleep cycle wakes you up a smidge if they're not there to wake up and start giving you attention instantly
The opposite: When my kids wake up in the middle of the night if they are alone they freak out. If there is another person there they feel comfort and go back to sleep without waking anyone else up. But YMMV.
But like anything else, fuck, if it's working for you and the risk is very low, do what you need to do. I avoided it because I kept seeing hellish outcomes but if that's not what's happening for you, go for it.