Should we just let her sleep in our bed?

We have a five year old. She has extreme separation anxiety... not an exaggeration. She will follow us around the house even during the day. She will follow us to the bathroom. We want to get her into some counseling to help with this. She’s a normal five year old until it comes night time. It’s like she loses all brain function and she’ll repeatedly ask where we are (from her bedroom), cry, get up repeatedly and come into our room, etc. She refuses to sleep in her own bed. We have a routine, we read her a book while she falls asleep, and then a couple hours later, she wakes up and refuses to go back to sleep without us. She hates being alone. This has turned into endless nights of crying, frustration, yelling, etc it’s interrupting everyone’s sleep in the house. We’re at the point of maybe just letting her sleep with us once she wakes the first time. I started to think that maybe we should just go at HER pace and with time, she’ll eventually stay in her own bed throughout the night. Then again, a little voice in my head keeps saying she’s too old for this. But we’ve been back and forth on this for over a year now. We have tried melatonin, Benadryl, music, tv, warm baths, books, everything you can possibly imagine and she downright refuses to sleep and stay asleep in her own bed. We have found her on our floor the other day wrapped up in her blanket. Should we just let her sleep with us and wait til this passes??