I only did that as a young kid after getting night terrors. Around 8 I stopped entirely? I may have a touch of childhood amnesia though.

My kid is about 8 now, and he’s welcome to join us near the mornings, but his hypermobility and the fact that our bed is quite hot already makes joining us in the middle of the night a total non-starter. Nowadays we just soothe and reassure, then tuck him back in.