I think it's fine and obviously it was good for your daughter. I'm a firm believer if a child needs you at night, be there for them. I think it is an imposition on us as parents, but it's about what the child needs and is best for them. My grandson slept with mommy (divorced parent) until he was 3 1/2 and he is the happiest most well adjusted child! She has no seperation issues, he excels at preschool and gets along just fine with other children. Mommy was there when he needed her, and I think this is a big reason he is so well adjusted today. He sleeps in his own bed and has no issues at all. If my kids wanted to sleep with me....they did. I had no problems and they grew up well adjusted. I think you're doing the right thing. Often we can make things more complicated than they need to be.
Interesting to hear a Dad's perspective on an issue most families have to deal with ,I do think the only way is to get your wife on the same page and start leaving him in his own crib/bed he will not like it, he will climb out and come to you, you have to stick it out.On the other hand many families have the family bed and do okay with,Some say allow the child to sleep on a litle mattress near your bed.I think it can only have a negative impact if you let it.. you know how to fix it as a Psychologist , ask yourself what you would tell other parents to do . Could it be you and your wife really have to see eye to eye .so thats the part that needs fixing first..Good luck to you ,..