all of ours have stopped at different times. i think their personality has made a difference in when they stop. since i put a toddler bed right up against mine and gradually move them over to it, its not so hard on them. they arent just all of a sudden put into a new bed in another room and left to get used to it. my bed has been on the floor for years to match up to the toddler bed so that they can scoot right over if needed. they also nap in my bed so having it on the floor makes it to where they can get down after a certain age and come out after a nap.
my 1st was 18 mos when she moved over, but came back into our bed for a while during the night. when my 2nd was 1 she was ready to go into her toddler bed and slept all night from day 1. she has always been very independent though. i moved them together into their own room at 2 and 3.
my 3rd slept with us until he was about 2 1/2. he is almost 4 now. he still sleeps in his toddler bed next to my husbands side. there are still some nights that he climbs in and cuddles to my DH, not very often though. he is a more sensitive child though so we expected it would take longer. my 13 month old still sleeps in between my DH and i. we will be moving him into his toddler bed this weekend, but im sure he will move back over in the middle of the night for a while, or at least need a cuddle back to sleep until he gets used to it.
we will be induced with number 5 in 3 weeks. he will be co-sleeping in our bed with us from birth just like all 4 others have. we have a king size bed, so this has never been an issue. i have tried bassinets, cribs, etc., but nothing feels right having them away from me. for us it just feels natural to nurture them back to sleep with cuddles. not one has had any issues, fallen off the bed, gotten rolled over on, any crazy stuff like that some people are worried about.
you just have to decide whats best for you and your child. it doesnt have to be whats best for your extended family, friends, or acquaintances. be confident in your decision and if its such an issue for them let them talk about it when you are not around. try not to listen to their comments, im sure there are things they do that you wouldnt approve of too. im lucky to have a big teddy bear for a husband who is very sensitive himself and enjoys the benefit of co-sleeping as much as i do.