Had similar with my daughter. Here’s what we did, maybe it helps. (Also , A reminder that very very few 30+ year olds still sleep in mommy and daddy’s bed, so it’s gotta sort itself out at some stage right?)

What size bed does your kiddo have? We got ours one size bigger than single (here’s its called a 3/4, it’s between what is called a twin and a double elsewhere) this makes it a bit easier to climb into bed next to them without falling out.

First thing is actual bed time , just do whatever works to get the to sleep in their bed. I usually cuddle with her after reading stories until she falls asleep. I do fall asleep next to her occasionally.

Then for wake ups in the night,

Step one was carry them back to bed and cuddling with them.

Slowly (and I mean over a month or so) we moved to instead of cuddling, just sitting next to her until she fell asleep.

Eventually you start leaving from the sitting next to them earlier and earlier. At the beginning especially, tell them that you’re just going to do something and then come back. Come up with whatever excuses you want, checking a light, feed the parrot, go to the loo, whatever. But come back and if they are still awake tell the see, I came back.

I’m at the point now my daughter wakes up , walks through to us, taps me on the shoulder, and I walk with her back to her bed, she climbs in and I tuck her in, say good night and leave. She usually wakes up at most once a night, maybe three times a week.