I breastfed my daughter and she self weaned.
Meaning, I did not make her stop according to MY timeline, she stopped herself one day.
She self weaned about 2-2.5 years old.
How?
Well for me/her... by that age I would just explain that one day she would not have to breastfeed. And I taught her manners about it.. ie: it is my body, she cannot just grab me and demand it. Only at home. Be respectful. Be pleasant. If she asked, but I was "busy"... I said, I'm busy, in a minute. I didn't deny her... but if I was busy, I said so. I mean, at 2 years old, a toddler does not have to nurse on-demand. So, if I was busy, and I said so, sometimes she would just forget about it. By the time she was 2 years old, I could explain things to her, in an age appropriate way and I was not grumpy about it when I explained to her. And she understood.
Then one day, she actually giggled and said "I don't drink from you anymore...." and she was done. That's it. Done. And that was it!
I didn't worry about just letting my daughter do what she wants with my boobs and nursing whenever. By the time she was about 2 years old, I just explained to her that one day she won't need to do that. It won't traumatize her. I just chatted with her about it. And taught her manners about it. And it was fine.
And as far as bedtime, she was fine.
She and I bonded in other ways. At bedtime.