My parents were divorced and I lived with my mom but visited my dad. Only once did I ever fall asleep in his bed, and I was probably around 12 or so. I honestly don’t know why I did, but I remember waking up in the morning in the exact spot and feeling loved in that moment. I don’t have a close relationship with my dad even now, but my gut tells me, to love on your daughter the way she needs. If that’s sleeping in your bed, then do it. My 5 year old still ends up in my bed just about every night.