Can children share a bed with parents?

If for example a single parent has two bedrooms and the kids bedroom is more like a play room and the parent has a Queen size bed and for bedtime they share the bed? I always said kids can sleep in parents bed no matter how old they are.

The grandparents came over and said he should sleep in child's bedroom and that we shouldn't sleep in the same bed he's growing up he's six going to be seven and needs to sleep in his own bedroom.

I'm on the fence he's independent he will sleep anywhere in his bed on the couch in a sleeping bag in a tent but I like the routine we have I give him a hug, and read a book and he falls asleep on his space and I sleep on my side and he wakes up in the morning and goes to school and plays around the house. If he sleeps in his room I will miss him I was thinking when he turns seven to put him in his own room but since he's six years old I let him sleep in the room.

What do you guys think what ages do you think children should sleep in there own beds in there own rooms and can kids still sleepover in parents room