Yes, I have, N., and the reason it bothers you is because it is a total boundary violation. I've had to learn to find polite ways to say "shut up" and "mind your own business." Now my daughter is 10 and my son 6, but we let them both (my daughter for the very reasons you describe) sleep with us for quite a long time. When my daughter was about 2 1/2 or so, or maybe it was her second birthday, we told her that she was a "big girl" now and it was time for her to sleep in her "big girl bed," but that she was welcome to come to me in the morning. She learned to very stealthily crawl from the foot of my bed into her place beside me without waking me, and often my husband would already be up and out the door to work by then. Obviously, she was allowed to wake me if she had a nightmare, but I found she didn't often have those. I think children who sleep in the "family bed" tend to be very well adjusted. Remember, in the eary days in this country and in many other countries and cultures, having all the kids sleep together or with the parents is normal.
Now, my kids know that if our bedroom door is closed, they are not to knock unless they are bleeding or the house is on fire, but if the door is open, they may come in.
Funny, my little son never wanted to sleep with us really -- he loved his own space. Children are different, and allowing them to do what comes naturally, and allowing yourself to enjoy being close to them when they're young and giving them everything they need is just being a natural parent. Stuff cotton in your ears if you have to -- do not allow the comments of people outside your family to influence what you know is right for you and your family.
Your child is old enough now to be able to follow some simple rules about bedtime. If you choose to have her in bed with you, fine. If you want to now structure in some more private time with your husband, then tell your daughter it's time she went to bed in her own room. You can always lie down with her as part of your nightly routine, then get up when you hear her breathing change. Eventually, you will only lie down for a few minutes, like after reading a book, and you'll find you have a very contented little girl and a nice chunk of private time with your husband. Take it slowly to transition her and you'll see, it will work just fine.
S.