My 4 year old son, who also slept with me since infancy - and still does - is very outgoing and independent. I only say that because I don't want you to blame your co-sleeping with your daughter for her perhaps being introverted. All evidence suggests that children who co-sleep with their parents actually develop a better sense of security in the world, and the depth of the bond created by co-sleeping with your child is certainly a benefit to them.
That said, I also have to lay with my son until he falls asleep. And while I LOVE cuddling with him and having him with me, I endure all the elbows to the eyes, the little toes burrowing into my legs, etc. At any given point in time, I have any number of little toe-sized bruises on my legs, my hips, etc. LOL So, as much as I like him being there, I'll be honest, there are days when it gets old. My son does have his own bed in his own room, where he chose out his own bedding, etc. That certainly didn't do the trick. However, I was not adamant that he had to sleep in it, so that was undoubtedly the reason he usually chooses not to.
Something I did to try to make the situation a little better for both of us, was to place a twin bed right next to my bed, flush up against it. The twin, however, is about 3 or 4 inches lower than my bed, which keeps him from rolling into my bed. :) I will lay with him in "his" bed until he falls asleep, at which point, I will either get up and finish whatever I was doing, or simply move to my bed to sleep. There are nights when he will sleep in his bed until morning. There are also nights when he sits up and asks to lay with me, which I never refuse him. Although, sometimes, rather than have him come into my bed, I'll go into his, so that when he falls back asleep, (which is usually within minutes), he's still in his bed and I can slip back in my bed.
There are certainly those people out there who strongly oppose co-sleeping with your children, and they will tell you that you made a mistake from day one, and to be consistent, and get her in her own bed immediately.
Ultimately, it's up to you, and what works best for you and your family. If having her in your bed is causing you a great deal of grief, then by all means, help her get into her own bed. I have absolutely NO IDEA how to do that, so I have nothing to offer there. LOL But if you do choose to boot her to her own bed, just know that you have done a wonderful thing by allowing her to be with you, close to you to bond and develop a deep sense of security. That won't be lost by having her move to her own bed at this point.
I never slept with my parents, and don't feel as though I lost anything by always sleeping in my own room, so I don't know why I always felt so compelled to let my son sleep with me. Could be that he was such a poor sleeper initially, that I did it to maintain my sanity. LOL But whatever the case, and even though I sometimes wish I could send him to his room at 8 p.m., and not see him again til morning (JOKING - ok not really), I don't regret co-sleeping with him. :)
Just know that there isn't one RIGHT way. The RIGHT way is the way that works best for you, at this point in time. You just have to decide what that is, and develop a plan to execute it.
Best wishes.
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Looks like the poster after me has the plan for moving her to her own bed! Glad someone does, because I was at a loss on that one!! I will be thinking about her suggestions... :)