It’s kind of like when someone asks when do you need to respect kids privacy when they are changing. The right answer is whenever the kid signals they want privacy or asks for it.

I have a ten year old who still occasionally ends up in our bed at night. But he does it to be near our dog who usually also sneaks into bed with us at some point in the night.

As long as nothing was forced you are fine OP.

I love how non-Americans trash our MIC until some big bad shows up like Russia or China. When it’s their countrymen, fathers, brothers, sons and daughters who will be fighting bleeding and dying suddenly we become pretty popular…